{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "from __future__ import print_function\n",
    "from __future__ import division\n",
    "import rospy, rosbag, tf\n",
    "from geometry_msgs.msg import Point, Quaternion\n",
    "from sensor_msgs.msg import Image, CameraInfo\n",
    "from sensor_msgs.msg import NavSatFix\n",
    "from sensor_msgs.msg import PointCloud2, PointField\n",
    "from nav_msgs.msg import Odometry\n",
    "import cv2, cv_bridge\n",
    "from image_geometry import PinholeCameraModel\n",
    "import numpy as np\n",
    "import csv, sys, os, copy\n",
    "from collections import defaultdict\n",
    "import PyKDL as kd\n",
    "from camera_info import *\n",
    "from utils import *\n",
    "from parse_tracklet import *\n",
    "import pandas as pd\n",
    "%matplotlib inline\n",
    "import matplotlib\n",
    "import matplotlib.pyplot as plt\n",
    "import matplotlib.image as mpimg\n",
    "from sklearn import cluster"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "DUMMY_FIELD_PREFIX = '__'\n",
    "\n",
    "# mappings between PointField types and numpy types\n",
    "type_mappings = [(PointField.INT8, np.dtype('int8')), (PointField.UINT8, np.dtype('uint8')), (PointField.INT16, np.dtype('int16')),\n",
    "                 (PointField.UINT16, np.dtype('uint16')), (PointField.INT32, np.dtype('int32')), (PointField.UINT32, np.dtype('uint32')),\n",
    "                 (PointField.FLOAT32, np.dtype('float32')), (PointField.FLOAT64, np.dtype('float64'))]\n",
    "\n",
    "pftype_to_nptype = dict(type_mappings)\n",
    "nptype_to_pftype = dict((nptype, pftype) for pftype, nptype in type_mappings)\n",
    "\n",
    "# sizes (in bytes) of PointField types\n",
    "pftype_sizes = {PointField.INT8: 1, PointField.UINT8: 1, PointField.INT16: 2, PointField.UINT16: 2,\n",
    "                PointField.INT32: 4, PointField.UINT32: 4, PointField.FLOAT32: 4, PointField.FLOAT64: 8}\n",
    "\n",
    "\n",
    "\n",
    "def fields_to_dtype(fields, point_step):\n",
    "    '''Convert a list of PointFields to a numpy record datatype.\n",
    "    '''\n",
    "    offset = 0\n",
    "    np_dtype_list = []\n",
    "    for f in fields:\n",
    "        while offset < f.offset:\n",
    "            # might be extra padding between fields\n",
    "            np_dtype_list.append(('%s%d' % (DUMMY_FIELD_PREFIX, offset), np.uint8))\n",
    "            offset += 1\n",
    "\n",
    "        dtype = pftype_to_nptype[f.datatype]\n",
    "        if f.count != 1:\n",
    "            dtype = np.dtype((dtype, f.count))\n",
    "\n",
    "        np_dtype_list.append((f.name, dtype))\n",
    "        offset += pftype_sizes[f.datatype] * f.count\n",
    "\n",
    "    # might be extra padding between points\n",
    "    while offset < point_step:\n",
    "        np_dtype_list.append(('%s%d' % (DUMMY_FIELD_PREFIX, offset), np.uint8))\n",
    "        offset += 1\n",
    "\n",
    "    return np_dtype_list\n",
    "\n",
    "def msg_to_arr(msg):\n",
    "\n",
    "    dtype_list = fields_to_dtype(msg.fields, msg.point_step)\n",
    "    arr = np.fromstring(msg.data, dtype_list)\n",
    "\n",
    "    # remove the dummy fields that were added\n",
    "    arr = arr[[fname for fname, _type in dtype_list if not (fname[:len(DUMMY_FIELD_PREFIX)] == DUMMY_FIELD_PREFIX)]]\n",
    "\n",
    "    if msg.height == 1:\n",
    "        return np.reshape(arr, (msg.width,))\n",
    "    else:\n",
    "        return np.reshape(arr, (msg.height, msg.width))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "CAMERA_TOPICS = [\"/image_raw\"]\n",
    "\n",
    "class Frame():\n",
    "    def __init__(self, trans, rotq, object_type, size):\n",
    "        self.trans = trans\n",
    "        self.rotq = rotq\n",
    "        self.object_type = object_type\n",
    "        self.size = size\n",
    "\n",
    "def extract_bag_timestamps(bag_file, topics=CAMERA_TOPICS):\n",
    "    timestamp_map = {}\n",
    "    index = 0\n",
    "    with rosbag.Bag(bag_file, \"r\") as bag:\n",
    "        for topic, msg, ts in bag.read_messages(topics):\n",
    "            timestamp_map[msg.header.stamp.to_nsec()] = index\n",
    "            index += 1\n",
    "    return timestamp_map\n",
    "\n",
    "\n",
    "def generate_frame_map(tracklets):\n",
    "    # map all tracklets to one timeline\n",
    "    frame_map = defaultdict(list)\n",
    "    for t in tracklets:\n",
    "        for i in range(t.num_frames):\n",
    "            frame_index = i + t.first_frame\n",
    "            rot = t.rots[i]\n",
    "            rotq = kd.Rotation.RPY(rot[0], rot[1], rot[2]).GetQuaternion()\n",
    "            frame_map[frame_index].append(\n",
    "                Frame(\n",
    "                    t.trans[i],\n",
    "                    rotq,\n",
    "                    t.object_type,\n",
    "                    t.size))\n",
    "    return frame_map"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "['/objects/obs1/front/gps/rtkfix',\n",
       " '/objects/obs1/front/gps/time',\n",
       " '/vehicle/brake_report',\n",
       " '/vehicle/twist',\n",
       " '/objects/capture_vehicle/front/gps/fix',\n",
       " '/vehicle/wheel_speed_report',\n",
       " '/objects/obs1/rear/gps/rtkfix',\n",
       " '/radar/tracks',\n",
       " '/vehicle/gps/time',\n",
       " '/cloud_nodelet/parameter_descriptions',\n",
       " '/vehicle/gps/vel',\n",
       " '/vehicle/gps/fix',\n",
       " '/vehicle/suspension_report',\n",
       " '/vehicle/sonar_cloud',\n",
       " '/objects/capture_vehicle/front/gps/time',\n",
       " '/velodyne_packets',\n",
       " '/objects/obs1/rear/gps/fix',\n",
       " '/diagnostics',\n",
       " '/objects/capture_vehicle/rear/gps/rtkfix',\n",
       " '/vehicle/brake_info_report',\n",
       " '/vehicle/imu/data_raw',\n",
       " '/vehicle/surround_report',\n",
       " '/vehicle/gear_report',\n",
       " '/radar/range',\n",
       " '/objects/capture_vehicle/rear/gps/fix',\n",
       " '/vehicle/throttle_report',\n",
       " '/image_raw',\n",
       " '/vehicle/fuel_level_report',\n",
       " '/rosout',\n",
       " '/velodyne_points',\n",
       " '/velodyne_nodelet_manager/bond',\n",
       " '/vehicle/filtered_accel',\n",
       " '/vehicle/steering_report',\n",
       " '/vehicle/joint_states',\n",
       " '/vehicle/twist_controller/parameter_descriptions',\n",
       " '/cloud_nodelet/parameter_updates',\n",
       " '/diagnostics_toplevel_state',\n",
       " '/objects/capture_vehicle/rear/gps/time',\n",
       " '/objects/obs1/rear/gps/time',\n",
       " '/can_bus_dbw/can_rx',\n",
       " '/vehicle/twist_controller/parameter_updates',\n",
       " '/vehicle/throttle_info_report',\n",
       " '/vehicle/misc_1_report',\n",
       " '/radar/points',\n",
       " '/vehicle/tire_pressure_report',\n",
       " '/diagnostics_agg',\n",
       " '/objects/obs1/front/gps/fix',\n",
       " '/objects/capture_vehicle/front/gps/rtkfix',\n",
       " '/vehicle/dbw_enabled']"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "#bag_file = '/home/prerit/DiDi/Data/bags/suburu_pulling_to_left/suburu04.bag'\n",
    "#tracklet_file = '/home/prerit/DiDi/Data/tracklets/suburu_pulling_to_left/suburu04.xml'\n",
    "#out_file = '/home/prerit/DiDi/Data/tracklets/suburu_pulling_to_left/ground_correction.csv'\n",
    "#bag_file = '/home/prerit/DiDi/Data/bags/bmw_sitting_still/bmw01.bag'\n",
    "#tracklet_file = '/home/prerit/DiDi/Data/tracklets/bmw_sitting_still/bmw01.xml'\n",
    "# bag_file = '/home/prerit/DiDi/Data/bags/nissan_pulling_to_right/nissan04.bag'\n",
    "# tracklet_file = '/home/prerit/DiDi/Data/tracklets/nissan_pulling_to_right/nissan04.xml'\n",
    "# out_file = '/home/prerit/DiDi/Data/tracklets/nissan_pulling_to_right/ground_correction.csv'\n",
    "# bag_file = '/home/prerit/DiDi/Data/bags/nissan_sitting_still/nissan01.bag'\n",
    "# tracklet_file = '/home/prerit/DiDi/Data/tracklets/nissan_sitting_still/nissan01.xml'\n",
    "# out_file = '/home/prerit/DiDi/Data/tracklets/nissan_sitting_still/ground_correction.csv'\n",
    "#bag_file = '/media/prerit/Data/didi_data/nissan/nissan_sitting_still/nissan01.bag'\n",
    "#tracklet_file = '/media/prerit/Data/didi_data/nissan/nissan_sitting_still/nissan01.xml'\n",
    "#out_file = '/media/prerit/Data/didi_data/nissan/nissan_sitting_still/ground_correction.csv'\n",
    "bag_file = '/home/prerit/DiDi/Data/bags/nissan_driving_past_it/nissan07.bag'\n",
    "tracklet_file = '/home/prerit/DiDi/Data/tracklets/nissan_driving_past_it/nissan07.xml'\n",
    "out_file = '/home/prerit/DiDi/Data/tracklets/nissan_driving_past_it/ground_correction.csv'\n",
    "bag = rosbag.Bag(bag_file)\n",
    "info = bag.get_type_and_topic_info()\n",
    "info.topics.keys()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Parsing Tracklet file /home/prerit/DiDi/Data/tracklets/nissan_driving_past_it/nissan07.xml\n",
      "File contains 1 Tracklets\n",
      "Loaded 1 Tracklets\n"
     ]
    },
    {
     "data": {
      "text/html": [
       "<div>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>cam_index</th>\n",
       "      <th>vel_index</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>1492892605465855961</th>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1492892605476950000</th>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1492892605507552100</th>\n",
       "      <td>1</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1492892605549187854</th>\n",
       "      <td>2</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1492892605577015000</th>\n",
       "      <td>3</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "                     cam_index  vel_index\n",
       "1492892605465855961          0          0\n",
       "1492892605476950000          0          0\n",
       "1492892605507552100          1          0\n",
       "1492892605549187854          2          1\n",
       "1492892605577015000          3          1"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "timestamp_map = extract_bag_timestamps(bag_file)\n",
    "tracklets = parse_xml(tracklet_file)\n",
    "frame_map = generate_frame_map(tracklets)\n",
    "velodyne_timestamps = extract_bag_timestamps(bag_file, topics=['/velodyne_points'])\n",
    "\n",
    "camera_df = pd.DataFrame({'cam_index':timestamp_map})\n",
    "camera_df.index = pd.to_datetime(camera_df.index)\n",
    "velodyne_df = pd.DataFrame({'vel_index':velodyne_timestamps})\n",
    "velodyne_df.index = pd.to_datetime(velodyne_df.index)\n",
    "time_df = pd.merge(camera_df, velodyne_df, left_index=True, right_index=True, how='outer')\n",
    "time_df = time_df.interpolate(method='time', limit=100, limit_direction='both')\n",
    "time_df = time_df.round().astype(int)\n",
    "time_df.index = time_df.index.astype(np.int64)\n",
    "time_df.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[ 71.461576   6.755868  -0.792786] [ 2.57866023  1.18820526  1.0239    ]\n",
      "[ 69.16559601]\n",
      "[ 71.443707   6.756777  -0.792534] [ 2.57780257  1.18576831  1.0239    ]\n",
      "[ 69.1288681  69.01931    69.21875  ]\n",
      "[ 71.43954    6.700089  -0.795987] [ 2.57834652  1.1873131   1.0239    ]\n",
      "[ 69.08824158  68.98038483  68.98822784  69.03643799  69.05911255\n",
      "  69.29047394]\n",
      "[ 71.412173   6.779971  -0.792614] [ 2.57720844  1.18408402  1.0239    ]\n",
      "[ 69.08636475  69.05318451  69.04157257  69.07492065  69.04398346\n",
      "  69.26257324  69.4527359 ]\n",
      "[ 71.400562   6.700577  -0.791253] [ 2.57824791  1.18703287  1.0239    ]\n",
      "[ 69.48364258  69.15100861  69.0606842   69.17579651  69.43092346]\n",
      "[ 71.38603    6.692873  -0.792331] [ 2.57804349  1.1864522   1.0239    ]\n",
      "[ 69.47032928  69.14478302]\n",
      "currently on  1492892606077446000\n",
      "[ 71.352253   6.624832  -0.791623] [ 2.57849396  1.1877323   1.0239    ]\n",
      "[ 69.37334442  69.27841949]\n",
      "[ 71.322166   6.592399  -0.789601] [ 2.57869332  1.1882994   1.0239    ]\n",
      "[]\n",
      "[ 71.28493    6.578788  -0.790229] [ 2.57841197  1.18749917  1.0239    ]\n",
      "[ 68.99838257]\n",
      "[ 71.210506   6.642201  -0.794907] [ 2.57831339  1.18721895  1.0239    ]\n",
      "[ 69.33222198  68.95726013  69.29961395]\n",
      "[ 71.155948   6.672008  -0.797282] [ 2.57828184  1.18712927  1.0239    ]\n",
      "[ 69.28250122  68.88755798]\n",
      "[ 71.06508    6.758945  -0.800363] [ 2.57742694  1.18470307  1.0239    ]\n",
      "[ 69.18283081]\n",
      "[ 71.016728   6.701977  -0.803286] [ 2.57822898  1.18697907  1.0239    ]\n",
      "[ 69.11173248]\n",
      "[ 70.926693   6.723064  -0.803868] [ 2.57846952  1.18766281  1.0239    ]\n",
      "[ 68.96738434]\n",
      "[ 70.79749    6.61377   -0.801685] [ 2.57932195  1.19008998  1.0239    ]\n",
      "[ 68.90047455  68.99806213]\n",
      "[ 70.70803    6.543836  -0.801393] [ 2.58017954  1.19253851  1.0239    ]\n",
      "[]\n",
      "currently on  1492892607078326000\n",
      "[ 70.545535   6.450273  -0.80246 ] [ 2.58154461  1.19644991  1.0239    ]\n",
      "[]\n",
      "[ 70.426403   6.469462  -0.805339] [ 2.58175185  1.19704522  1.0239    ]\n",
      "[]\n",
      "[ 70.271805   6.569493  -0.806132] [ 2.58016074  1.19248476  1.0239    ]\n",
      "[]\n",
      "[ 70.052704   6.456298  -0.807392] [ 2.58152357  1.19638948  1.0239    ]\n",
      "[]\n",
      "[ 69.882104   6.500631  -0.808407] [ 2.58065072  1.19388665  1.0239    ]\n",
      "[]\n",
      "[ 69.638756   6.37793   -0.809899] [ 2.58224747  1.19847058  1.0239    ]\n",
      "[]\n",
      "[ 69.486258   6.424345  -0.812397] [ 2.58135983  1.19591944  1.0239    ]\n",
      "[]\n",
      "[ 69.137339   6.177704  -0.817773] [ 2.58328317  1.20145661  1.0239    ]\n",
      "[]\n",
      "[ 68.904565   6.129367  -0.822989] [ 2.58382538  1.20302392  1.0239    ]\n",
      "[]\n",
      "[ 68.674503   6.047641  -0.825336] [ 2.58467702  1.20549135  1.0239    ]\n",
      "[ 66.68604279]\n",
      "currently on  1492892608079180000\n",
      "[ 68.294575   6.078563  -0.827669] [ 2.5837906   1.20292332  1.0239    ]\n",
      "[ 66.57473755  66.56460571  66.20330048  66.32802582]\n",
      "[ 68.028907   6.132844  -0.826721] [ 2.58298413  1.2005934   1.0239    ]\n",
      "[ 66.11238098  65.9721756   65.81737518  65.73897552  66.09358215]\n",
      "[ 67.636257   5.906906  -0.825914] [ 2.58543989  1.20770753  1.0239    ]\n",
      "[ 65.51770782  65.53668976  65.54830933  65.5015564 ]\n",
      "[ 67.363878   5.687957  -0.828101] [ 2.58767315  1.21422799  1.0239    ]\n",
      "[ 65.18972015  65.20433044  65.15618134  65.16555786  65.18040466\n",
      "  65.27606201]\n",
      "[ 67.064011   5.567608  -0.833207] [ 2.58934077  1.21912937  1.0239    ]\n",
      "[ 65.09416962  64.8420105   65.0610733 ]\n",
      "[ 66.620593   5.291566  -0.829844] [ 2.59091468  1.22378136  1.0239    ]\n",
      "[ 64.8190155]\n",
      "[ 66.358839   5.157611  -0.827152] [ 2.59121131  1.22466095  1.0239    ]\n",
      "[ 64.40238953]\n",
      "[ 65.69005    5.218897  -0.830329] [ 2.58860164  1.21695351  1.0239    ]\n",
      "[ 63.96931839]\n",
      "[ 65.321102   5.137297  -0.834029] [ 2.58880178  1.21754215  1.0239    ]\n",
      "[ 63.57088089]\n",
      "[ 64.883304   5.0397    -0.835733] [ 2.58845067  1.21650976  1.0239    ]\n",
      "[]\n",
      "currently on  1492892609080045000\n",
      "[ 64.277406   4.61377   -0.825421] [ 2.5908493  1.2235876  1.0239   ]\n",
      "[]\n",
      "[ 63.832122   4.550855  -0.822158] [ 2.59057105  1.22276352  1.0239    ]\n",
      "[]\n",
      "[ 63.160837   4.665543  -0.835111] [ 2.58803143  1.21527866  1.0239    ]\n",
      "[]\n",
      "[ 62.678571   4.45938   -0.849483] [ 2.59031057  1.22199278  1.0239    ]\n",
      "[]\n",
      "[ 62.209359   4.268424  -0.858028] [ 2.59068239  1.22309317  1.0239    ]\n",
      "[]\n",
      "[ 61.469604   4.278012  -0.861277] [ 2.59046192  1.22244054  1.0239    ]\n",
      "[]\n",
      "[ 61.077687   4.355014  -0.858429] [ 2.58852427  1.21672606  1.0239    ]\n",
      "[]\n",
      "[ 60.117904   4.095044  -0.852   ] [ 2.59067336  1.22306644  1.0239    ]\n",
      "[]\n",
      "[ 59.589327   4.028014  -0.85065 ] [ 2.59051612  1.22260092  1.0239    ]\n",
      "[]\n",
      "[ 59.026791   4.116054  -0.84824 ] [ 2.58552819  1.20796439  1.0239    ]\n",
      "[]\n",
      "currently on  1492892610080938000\n",
      "[ 58.172979   4.063608  -0.853046] [ 2.58470013  1.20555839  1.0239    ]\n",
      "[]\n",
      "[ 57.58978    4.074576  -0.861471] [ 2.58390727  1.20326088  1.0239    ]\n",
      "[]\n",
      "[ 56.692106   4.228268  -0.874047] [ 2.56942504  1.16230092  1.0239    ]\n",
      "[ 54.75806808]\n",
      "[ 56.081108   4.180418  -0.882387] [ 2.569469   1.1624225  1.0239   ]\n",
      "[ 54.03269958  54.36520767]\n",
      "[ 55.446295   4.185593  -0.884836] [ 2.56909763  1.16139574  1.0239    ]\n",
      "[]\n",
      "[ 54.539364   4.172144  -0.887362] [ 2.56898678  1.16108948  1.0239    ]\n",
      "[]\n",
      "[ 54.020164   4.200866  -0.888134] [ 2.5685054   1.15976066  1.0239    ]\n",
      "[ 52.11231613  51.70945358]\n",
      "[ 52.81761    4.264374  -0.891302] [ 2.56692193  1.15540274  1.0239    ]\n",
      "[ 51.2902298   51.15553665  51.06230545  50.89256668  50.99087524\n",
      "  50.91627884  51.27180099]\n",
      "[ 52.155987   4.284888  -0.892028] [ 2.5659961   1.15286403  1.0239    ]\n",
      "[ 50.45570374  50.29611588  50.2419281   50.0657196   50.17082214\n",
      "  50.1458931   50.05607605  50.36600494]\n",
      "[ 51.432205   4.268283  -0.895314] [ 2.56437355  1.1484311   1.0239    ]\n",
      "[ 49.5820961   49.25365829  49.45577621]\n",
      "currently on  1492892611081808000\n",
      "[ 50.402613   4.234036  -0.898007] [ 2.5608251   1.13880729  1.0239    ]\n",
      "[ 48.68935776]\n",
      "[ 49.710985   4.230589  -0.901235] [ 2.56168161  1.14112147  1.0239    ]\n",
      "[ 47.68900681  47.75835419]\n",
      "[ 48.667569   4.233127  -0.901825] [ 2.56465327  1.14919384  1.0239    ]\n",
      "[ 40.60771942  40.77335358  41.10240555  41.11628723  41.0009346\n",
      "  40.93289948  41.14821243  41.057621    41.06660461  41.02714157\n",
      "  41.03939819  41.0212822   41.15571213  41.28469467  41.66586304]\n",
      "[ 47.95979    4.233018  -0.897734] [ 2.56585031  1.15246487  1.0239    ]\n",
      "[ 39.90744019  39.9896965   40.04781723  40.04932404  40.0564003   40.155159\n",
      "  40.28233719  40.50443268  40.67237473  40.89773178  41.04232025\n",
      "  41.01079559  41.02192307  41.00609589  40.95540237  40.99845505\n",
      "  41.23814011  41.39944839  41.13624573  41.03337097  41.12420273\n",
      "  41.33496475  41.3270874   41.47217941  41.87385559]\n",
      "[ 47.247604   4.233286  -0.891733] [ 2.56694656  1.15547037  1.0239    ]\n",
      "[ 45.51430893  45.16674423  45.09106445  45.13458252  39.68363953\n",
      "  39.65141678  39.61869431  39.6717186   39.65855789  39.69279099\n",
      "  39.66687012  39.65261459  39.6380043   39.7469101   39.83588409\n",
      "  39.79772186  39.80900955  39.92379761  40.02024078  40.03291321\n",
      "  40.02285004  39.94664001  40.16786575]\n",
      "[ 46.240948   4.184104  -0.888091] [ 2.56904058  1.16123811  1.0239    ]\n",
      "[ 44.26763535  44.25743484  38.19628906  38.19177628  38.20822144\n",
      "  38.32147598  38.34482574  38.20766449  38.30992508  38.63887024\n",
      "  38.70402145  38.7995224   38.7478714   38.81145096  38.66090012\n",
      "  38.76182556  38.80840683  38.83667374  38.872715    39.00616837\n",
      "  39.00761414  39.21485519  38.89163589  38.91664505]\n",
      "[ 45.680296   4.107805  -0.89023 ] [ 2.56926708  1.16186411  1.0239    ]\n",
      "[ 43.40439606  43.4399147   43.77225876  37.65128326  37.76839447\n",
      "  37.77437592  37.75296402  37.7785759   37.63920212  37.90090942\n",
      "  37.9721756   37.8565979   37.87904358  37.89557266  37.87277985\n",
      "  37.89828873]\n",
      "[ 44.382897   4.026643  -0.902432] [ 2.57361192  1.1739544   1.0239    ]\n",
      "[ 42.67656326  42.92582703  36.3809433   36.45116043  36.35937881\n",
      "  36.34295654  36.3261795   36.3512764   36.41588974  36.44828415\n",
      "  36.44838715  36.32829666  36.39380646  36.36447525  36.44050217\n",
      "  36.44852066  36.40431976  36.44470215  36.62727737  36.51360321\n",
      "  36.47163391  36.6152916   36.63632965  36.62479401  36.69570923\n",
      "  36.77526093  36.64014435  36.73735046  36.76042938  36.71695709\n",
      "  36.73582458]\n",
      "[ 43.675518   3.949308  -0.906634] [ 2.5726806   1.17134952  1.0239    ]\n",
      "[ 35.61976242  35.64015961  35.65629959  35.7403717   35.81325912\n",
      "  35.85929108  35.77929688  35.76931763  35.83429337  35.68516541\n",
      "  35.64389801  35.67719269  35.70275497  35.79682541  35.71602249\n",
      "  35.76391983  35.71154785  35.75225449  41.96817017  35.78210449\n",
      "  35.82481003  35.84215164  35.83447647  35.85810089  41.66412354\n",
      "  35.88163757  35.76438904  35.79090118  41.88754272  35.81418991\n",
      "  35.86197662  35.93850708  35.96892166  35.98909378  36.01697159\n",
      "  36.03528976  36.04861069  36.12981415  36.20244598  36.22545242\n",
      "  36.20742798  36.26572418  36.28929901  36.22672272  36.20598221\n",
      "  36.25665283  36.27138138  36.3713913   36.34539413  36.35503387\n",
      "  36.35229492  36.37529755  36.445858    36.42033005  36.45038605\n",
      "  36.4641304   36.54556274  36.54466248  36.52557755  36.62216949\n",
      "  36.64025497  36.62828827  36.54198456  36.60515213  36.58848572\n",
      "  36.62686539  36.61117935  36.53525162  36.58678818  36.63772583\n",
      "  36.70492554  36.73094559  36.65357971  36.72061539  36.72412872\n",
      "  36.57301331  36.73537445  36.7559166 ]\n",
      "[ 42.968599   3.88303   -0.895425] [ 2.57458016  1.17667041  1.0239    ]\n",
      "[ 34.94050598  35.00131607  35.02540588  35.08764267  35.10533905\n",
      "  35.1273613   35.11971664  35.14370346  35.19281769  35.15426636\n",
      "  35.24124908  35.2686882   35.26371765  35.2945137   35.36743927\n",
      "  35.42127991  35.47881699  35.51756668  35.59930801  35.61889648\n",
      "  35.6870575   35.71392059  35.78964233  35.85725784  35.91773987\n",
      "  36.00162888  36.03194809  36.14596939  36.16585159  36.22405624\n",
      "  36.29566574  36.34653473  36.38391876  36.34204102  36.44413376\n",
      "  36.47533035  36.39843369  36.43936157  36.44277573  36.41637039\n",
      "  36.39411163  36.46430206  36.48048782  36.4937706   36.44049072\n",
      "  36.35370636  36.37932205  36.40582275  36.33731842  40.77271271\n",
      "  36.39299393  40.86150742  36.43481827  36.46297073  36.45597458\n",
      "  36.4631424   36.50329971  41.16433716  36.41187668  36.41434479\n",
      "  36.45478821  36.44904709  36.55470276  36.58025742  36.67673111\n",
      "  36.63583374  36.61456299  36.68655014  36.72278214  36.77220917\n",
      "  36.90819168  36.92514801  36.93747711  37.05315781  37.09483337\n",
      "  37.12800217  37.17269516  37.16131973  37.18956757  37.10161209\n",
      "  37.11651993  37.09964752  37.08425903  37.21643448  37.1567688\n",
      "  37.26234055  37.30550003  37.25496674  37.38550568  37.40964127\n",
      "  37.4203949   37.41592026  37.29869461  37.19849777  37.31271362\n",
      "  37.41013718  37.53649521  37.34086227  37.45555878]\n",
      "currently on  1492892612082661000\n",
      "[ 41.887138   3.790751  -0.89279 ] [ 2.57344259  1.17348026  1.0239    ]\n",
      "[ 33.83446503  33.91627502  33.92524338  34.01647568  34.06187439\n",
      "  34.05006027  34.09266281  34.06156921  34.14387512  34.18680954\n",
      "  34.27338028  34.33995819  34.38405609  34.4307518   34.47865295\n",
      "  34.52822113  34.63006592  34.67246246  34.72713852  34.76010513\n",
      "  34.78107452  34.76137543  34.75762558  34.79655457  34.78822327\n",
      "  34.82273865  34.90185165  34.93319321  34.98823547  35.00882721\n",
      "  35.02602768  35.10342407  35.16489029  35.22835922  35.26376343\n",
      "  35.34240341  35.36546326  35.40007782  35.50537491  35.59769058\n",
      "  35.71146774  35.75003052  35.82581329  35.86182404  35.92136765\n",
      "  35.99150085  36.03551102  36.10886002  36.11710358  36.16726303\n",
      "  36.21119308  36.26788712  36.28746414  36.28567886  36.33482361\n",
      "  36.3026123   36.28969574  36.28784561  36.28964615  36.26991272\n",
      "  36.31944275  36.31034088  36.20148087  36.30309677  39.97220993\n",
      "  36.26060867  39.97840118  36.30990982  39.99285889  36.34245682\n",
      "  40.09205627  36.3732605   36.38333511  36.41201401  36.5008812\n",
      "  36.45103073  36.43778992  36.32014084  36.42992401  36.4971962\n",
      "  36.55422211  36.83395767  36.92207336  37.01216125  37.12190247\n",
      "  37.0795784   37.13340759  37.10020065  37.11045456  37.08998489\n",
      "  37.05941391  37.06652451  37.07516479  37.07360077  37.07370758\n",
      "  37.07947922  37.06698608  37.13005829  37.17298126  37.2353363\n",
      "  37.25748444  37.21565247  37.24517059  37.24240494  37.29721832\n",
      "  37.31775284  37.33618546  37.40198517  37.39358902  37.44672775\n",
      "  37.34479523  37.38732147  37.45909882  37.46746445  37.59600449\n",
      "  37.74905777  37.81048203]\n",
      "[ 41.158563   3.778911  -0.883719] [ 2.5749844   1.17780676  1.0239    ]\n",
      "[ 33.10111618  33.20503616  33.33311462  33.43358612  33.52040863\n",
      "  33.59212875  33.6143074   33.70628357  33.68773651  33.75154495\n",
      "  33.78756714  33.82534027  33.84310532  33.90596008  33.94483948\n",
      "  34.06142807  34.10778809  34.11172867  34.07316208  34.07578278\n",
      "  34.072155    34.02701187  34.00772095  34.1232338   34.03913498\n",
      "  34.11526108  34.14947891  34.1661377   34.18660736  34.23055267\n",
      "  34.18885803  34.19781494  34.3151474   34.36131668  34.35889435\n",
      "  34.4363327   34.44982529  39.05950928  34.40532303  34.40324402\n",
      "  34.47808075  34.43017197  34.38687515  34.46186829  34.52267456\n",
      "  39.44711685  34.55931091  34.6399498   34.65089798  34.7441864\n",
      "  34.77248001  34.82771683  34.83680725  34.94340515  34.94852448\n",
      "  34.9907074   35.03710175  35.04034805  35.03842163  35.11524582\n",
      "  35.11647034  35.09706497  35.10748291  35.1435585   35.17123795\n",
      "  35.27056503  35.34964752  35.426548    35.44517136  35.52334213\n",
      "  35.51137543  35.46509171  35.42459488  35.58750153  35.58635712\n",
      "  35.66283798  35.69497681  35.72865677  35.75445557  35.74754333\n",
      "  35.71869278  35.72130585  35.73580551  35.77947998  35.81759644\n",
      "  35.83493805  35.83968735  35.87065506  35.87506104  35.83797073\n",
      "  35.88515854  36.21498108  36.15722275]\n",
      "[ 40.073358   3.753967  -0.86952 ] [ 2.57696758  1.1834021   1.0239    ]\n",
      "[ 32.06476212  32.09778214  32.1161232   32.12127304  32.14020157\n",
      "  32.19178772  32.27759171  32.38449478  32.49259949  32.58263016\n",
      "  32.65890121  32.72874832  32.83603287  32.88793564  32.87866592\n",
      "  32.95271301  32.97336578  32.96221161  33.00989151  32.95973206\n",
      "  32.98210907  32.94710922  32.93946457  33.01427841  33.13063049\n",
      "  33.09534073  33.06404495  33.05663681  33.12852478  33.18190384\n",
      "  33.19982147  33.23928833  33.25811768  33.25669861  33.24119186\n",
      "  33.25115967  38.54127121  33.29728699  33.34641647  33.40456772\n",
      "  33.37499619  38.35561371  33.39282608  33.42715454  33.44643784\n",
      "  38.16244125  33.48929977  40.87824631  33.48361588  40.88034058\n",
      "  33.46173859  33.53763199  38.39790726  33.55795288  33.63639069\n",
      "  33.64417267  38.58560562  33.74647522  33.77119827  33.80560303\n",
      "  33.84370804  33.89281082  33.94235229  33.99589539  34.11119843\n",
      "  34.13988495  34.133358    34.21535873  34.19100952  34.1959343\n",
      "  34.21694946  34.265625    34.30401611  34.31203079  34.31199265\n",
      "  34.37129593  34.41252518  34.42552567  34.48205185  34.45647049\n",
      "  34.4605484   34.54225159  34.61566162  34.64881134  34.73159027\n",
      "  34.75222397  34.78046799  34.81851196  34.83617401  34.82572174\n",
      "  34.80083847  34.8794899   34.88415909  34.90406036  34.92012405\n",
      "  34.96909332  35.05582809  35.07871628  35.05475998  35.02121353\n",
      "  35.10467148  35.04702759  35.11948395  35.17007446  35.20683289\n",
      "  35.27271271  35.3447113   35.36759567]\n",
      "[ 39.343788   3.740693  -0.86497 ] [ 2.57902395  1.1892407   1.0239    ]\n",
      "[ 31.33737755  31.44526482  31.48495293  31.50925636  31.54501152\n",
      "  31.55509567  31.61264992  31.63002586  31.68518448  31.79719925\n",
      "  31.89987373  32.02222443  32.06393814  32.14270401  32.20740891\n",
      "  32.23173141  32.30292892  32.34243774  32.40141296  32.3763504\n",
      "  32.36686707  32.31848145  32.28764725  32.31858826  32.34246826\n",
      "  32.40139389  32.35871124  32.36880493  32.24608994  32.319664\n",
      "  32.29092026  32.51449203  32.55218506  32.58441925  32.59527969\n",
      "  32.5819397   32.59482193  32.66830826  37.63301849  32.71973801\n",
      "  32.72319794  32.76545334  32.75120926  37.45769882  32.74464798\n",
      "  37.45047379  32.78013611  37.31622696  32.82384491  37.28569412\n",
      "  32.79458237  37.38897705  32.82126999  37.42487335  40.1064682\n",
      "  32.79295349  32.8594017   37.43341064  32.89476395  32.97259903\n",
      "  37.68841171  33.01939774  37.72029114  33.05599976  33.13819504\n",
      "  33.19500351  33.13748932  33.20296097  33.22232056  33.2337532\n",
      "  33.29847717  33.30963898  33.4277153   33.373909    33.45203781\n",
      "  33.5274353   33.51292801  33.5578537   33.58271408  33.63111115\n",
      "  33.66751862  33.68140793  33.70102692  33.70240784  33.71556854\n",
      "  33.76044464  33.76101303  33.83120346  33.81521988  33.90480423\n",
      "  33.92022324  33.89742279  33.95027161  33.8909874   34.01110077\n",
      "  34.03902817  34.07278824  34.10977936  34.17489624  34.07620239\n",
      "  34.16432571  34.14651871  34.18213272  34.21960449  34.23085785\n",
      "  34.27942657  34.3632431   34.36399841  34.39567184  34.42942047\n",
      "  34.40824509  34.38759613  34.49330139  34.55665207  34.57403564\n",
      "  34.60202789]\n",
      "[ 38.622415   3.671215  -0.860948] [ 2.57906721  1.18936396  1.0239    ]\n",
      "[ 30.59886169  30.5987587   30.57315445  30.59422874  30.62471771\n",
      "  30.68623352  30.83041382  30.87991524  30.91799736  30.91094589\n",
      "  30.90162849  30.9748764   31.02171516  31.08087921  31.11049271\n",
      "  31.23498344  31.27113533  31.43252945  31.47216988  31.50162315\n",
      "  31.56239128  31.62685585  31.70189285  31.75313377  31.76871109\n",
      "  31.75938606  31.66121292  31.64232826  31.64496994  31.67476082\n",
      "  31.66724014  31.57884979  31.6467247   31.57887077  31.56370163\n",
      "  31.57313347  31.6547451   31.81091499  31.84584427  31.85554504\n",
      "  31.88622284  31.89479065  31.95390129  31.93216133  36.65449524\n",
      "  31.9961319   36.73791885  32.05194855  36.47934341  32.11013794\n",
      "  32.08920288  36.60307312  32.09799957  36.59719467  32.07446671\n",
      "  36.47360611  32.0569191   36.44324493  32.05809402  36.56311417\n",
      "  32.08883286  36.60108185  32.08795166  32.14701843  36.48828888\n",
      "  32.15903473  32.20064545  36.76332855  32.26190567  36.84363174\n",
      "  32.30256653  36.88329315  32.3274498   32.3616333   32.3540802\n",
      "  32.37779236  32.37401199  32.37125397  32.37055206  32.42285538\n",
      "  32.39195251  32.45402145  32.47241211  32.55991364  32.66735077\n",
      "  32.71823883  32.75527573  32.75860977  32.60903931  32.62895203\n",
      "  32.76425934  32.74560547  32.88463593  32.91346741  32.97787094\n",
      "  32.98412704  32.91618729  32.90190506  32.88333893  32.92453384\n",
      "  32.9653511   33.01976395  33.06607437  33.11412048  33.08986282\n",
      "  33.03935623  33.0963974   33.14514542  33.11415863  33.17409515\n",
      "  33.17630005  33.18370819  33.23324585  33.29448318  33.28163528\n",
      "  33.35163879  33.38609314  33.37603378  33.42948151  33.41324997\n",
      "  33.43064117  33.44689178  33.44224548  33.47779083  33.47063828\n",
      "  33.53043747  33.56103897]\n",
      "[ 37.561471   3.797995  -0.871932] [ 2.57957724  1.19081816  1.0239    ]\n",
      "[ 29.50129509  29.55228424  29.60952759  29.66467857  29.75951767\n",
      "  29.84228325  29.95070076  29.98062515  30.00272369  30.02449226\n",
      "  30.06818581  30.06921387  30.06028557  30.14046097  30.24700165\n",
      "  30.31721687  30.38144875  30.37320328  30.35301018  30.34607124\n",
      "  30.36278725  30.43300056  30.48356628  30.54558182  30.63414001\n",
      "  30.65559196  30.68504906  30.76844025  30.72709656  30.74363708\n",
      "  30.77475739  30.85227585  30.95228767  31.05238342  31.13639641\n",
      "  31.20366669  31.2628727   31.34736633  31.39032936  31.41648865\n",
      "  31.45805931  31.49743652  31.50214195  31.50946617  31.48309326\n",
      "  31.42778397  31.40673065  31.46627998  31.47714806  31.51058197\n",
      "  31.5217495   31.49934959  31.38059616  31.45570374  31.52107811\n",
      "  31.57874489  31.66788292  31.66444969  31.65746689  31.65739822\n",
      "  31.69667244  35.84096527  31.71857452  31.77659416  35.81462097\n",
      "  31.80127716  35.60822678  31.83699226  35.70079803  31.81744957\n",
      "  35.72422791  31.82542992  35.70359421  31.81523323  35.53740692\n",
      "  31.8618679   35.62490463  31.85655975  31.84156609  31.81583405\n",
      "  31.87240028  35.69326782  31.93020439  31.92955589  35.94760895\n",
      "  32.00789642  35.97900009  32.04347229  36.00956726  32.10783005\n",
      "  32.15081024  32.16122818  32.15306473  32.16059494  32.12033081\n",
      "  32.15527344  32.17458725  32.21698761  32.25940704  32.34522247\n",
      "  32.32123947  32.47444153  32.49564362  32.50661087  32.50965881\n",
      "  32.60625076  32.58618927  32.56837845  32.61407089  32.61936951\n",
      "  32.58262253  32.6175499   32.70401001  32.71437454  32.72842407\n",
      "  32.75818253  32.7097702   32.7349205   32.7399025   32.77260208\n",
      "  32.77297974  32.85320282  32.88285065  32.89251328  32.90356827\n",
      "  32.93464279  32.97323227  32.89817429  32.93398285  32.97994232\n",
      "  33.00169373  33.03286362  33.06542206  33.06437683  33.13720703\n",
      "  33.18442917  33.18292999  33.21430206  33.17562485  33.17651367\n",
      "  33.19392395  33.25753021  33.22614288  33.25971603]\n",
      "[ 37.014543   3.758906  -0.880445] [ 2.5777757   1.18569207  1.0239    ]\n",
      "[ 28.95793533  28.9831543   29.07052612  29.12712097  29.20540047\n",
      "  29.29382324  29.39400291  29.47293663  29.49111557  29.52352524\n",
      "  29.55568314  29.5875988   29.59664917  29.63771248  29.73261833\n",
      "  29.8157711   29.87671852  29.94465828  29.88918495  29.88107681\n",
      "  29.9114933   29.97984886  30.04286003  30.08680344  30.16957855\n",
      "  30.21818542  30.25388908  30.31593323  30.30018997  30.31416893\n",
      "  30.36578369  30.40352058  30.50389099  30.59879303  30.69380379\n",
      "  30.76033401  30.82236099  30.91199493  30.98756027  31.02368355\n",
      "  31.04392815  31.06877327  31.12088585  31.13839531  31.14770699\n",
      "  31.12530136  31.11247253  31.10224342  31.09762573  31.15388298\n",
      "  31.21300507  31.26174355  31.22871971  31.19390106  31.22756386\n",
      "  31.28432655  31.32380104  31.35482597  31.37594795  31.36760902\n",
      "  31.38616371  31.37530327  35.06411743  31.41178703  31.4381218\n",
      "  31.48803711  31.50719833  31.51294136  31.51960373  31.55548096\n",
      "  34.71174622  31.5914135   34.75268555  31.56433296  31.62251472\n",
      "  31.61134911  31.61183739  34.83031082  31.67374611  31.70309258\n",
      "  35.07266617  31.75498962  35.1015358   31.79734993  35.1326561\n",
      "  31.87660599  31.90657043  31.96299744  31.96333885  32.01359558\n",
      "  32.03464127  32.09599686  32.139431    32.21136093  32.24428558\n",
      "  32.22449875  32.23886871  32.26866913  32.30198669  32.29892349\n",
      "  32.30580139  32.40260315  32.42493057  32.46710205  32.40123749\n",
      "  32.4646225   32.47599411  32.53908539  32.55978012  32.53036118\n",
      "  32.58056641  32.64049911  32.69416046  32.71752548  32.7486763\n",
      "  32.79954147  32.83208084  32.89828873  32.88255692  32.86617661\n",
      "  32.89356995  32.92266464  32.93549728  32.92427826  32.94697571\n",
      "  32.96671677  32.94473267  33.02770996  33.04537582  33.10040665\n",
      "  33.13854599  33.13749695  33.16902924  33.14516449  33.16688919\n",
      "  33.17357254  33.23015976  33.3008194   33.30101776  33.31087494\n",
      "  33.42892075]\n",
      "[ 35.713715   3.85299   -0.914646] [ 2.56876659  1.16048141  1.0239    ]\n",
      "[ 27.70930481  27.79487991  27.83755875  27.88476181  27.9594593\n",
      "  28.01463127  28.05893898  28.11603355  28.1587944   28.22237206\n",
      "  28.28577805  28.31112862  28.37989807  28.45425797  28.47566223\n",
      "  28.53621292  28.61773682  28.65205002  28.67102432  28.69278336\n",
      "  28.75174522  28.83680153  28.8631134   28.88144302  28.91758728\n",
      "  28.90896797  28.94660568  28.98723412  29.07494354  29.1695652\n",
      "  29.15904236  29.17427063  29.17992973  29.2519455   29.3272686\n",
      "  29.38142204  29.44936943  29.50345039  29.62657738  29.64029884\n",
      "  29.77878189  29.8507576   29.9125843   29.91439629  30.02297783\n",
      "  30.05968475  30.13254356  30.19634438  30.18331718  30.19554138\n",
      "  30.12879181  30.12756157  30.1095562   30.12853813  30.12471199\n",
      "  30.0930233   30.05679131  30.10348511  30.08991814  30.11800003\n",
      "  30.18972588  30.23509026  30.33212471  30.42414474  30.44532776\n",
      "  30.47222328  34.08863449  30.49294853  34.11858749  30.54581833\n",
      "  34.15099335  30.59448814  30.6726799   30.68850327  33.96969604\n",
      "  30.70527458  33.99160004  30.68823624  30.6894207   33.77878571\n",
      "  30.6974144   33.87928391  30.68217278  33.94848633  30.72634315\n",
      "  33.93386841  30.76880074  30.78164673  33.98107529  30.80718613\n",
      "  30.8588295   34.18543243  30.89429092  34.23767853  30.95610619\n",
      "  34.27627182  31.02936554  31.00193024  31.09058952  31.11047745\n",
      "  31.1524086   31.09237671  31.14079475  31.14038467  31.20094299\n",
      "  31.19769096  31.30192757  31.37598038  31.41760826  31.47339439\n",
      "  31.514328    31.5534153   31.60221481  31.65659142  31.62697029\n",
      "  31.61093712  31.65876961  31.68016624  31.7513237   31.74624062\n",
      "  31.78483009  31.82926941  31.85338402  31.8832283   31.89484215\n",
      "  31.87623787  31.89921379  31.932024    31.97247696  32.05480957\n",
      "  32.08073807  32.14432907  32.17367554  32.21688843  32.1895752\n",
      "  32.24422073  32.18903732  32.23072433  32.24266815  32.28401184\n",
      "  32.29541779  32.35046005  32.38064194  32.44109726  32.46266937\n",
      "  32.46747971  32.48248291  32.50993729  32.55107117  32.54124451\n",
      "  32.62117004  32.65896225]\n",
      "[ 34.987732   3.859928  -0.921373] [ 2.56558242  1.15173186  1.0239    ]\n",
      "[ 26.93509483  26.99715233  27.07341766  27.14693642  27.18222809\n",
      "  27.2390728   27.2964344   27.35446358  27.3894043   27.42560196\n",
      "  27.47880745  27.52131081  27.58897972  27.65313911  27.70944023\n",
      "  27.72766304  27.74124908  27.77883911  27.83952713  27.89929771\n",
      "  27.93381882  27.9810257   28.01901436  28.05227089  28.0833683\n",
      "  28.12268066  28.17588043  28.20702553  28.20228195  28.24075127\n",
      "  28.27708626  28.32136917  28.34056664  28.39300156  28.48616219\n",
      "  28.53319931  28.59005165  28.63952255  28.73395538  28.77740097\n",
      "  28.79024124  28.89680862  28.94456482  29.03414726  29.07755852\n",
      "  29.12170219  29.13032722  29.08956718  29.03970337  29.0651722\n",
      "  29.11203766  29.14402008  29.18169212  29.15389252  29.14857292\n",
      "  29.18439293  29.18284225  29.15188217  29.16565704  29.21358109\n",
      "  29.25368309  29.27669907  29.3556366   29.39426422  29.45825577\n",
      "  29.50828552  33.16968155  29.53492546  33.11836243  29.5844574\n",
      "  33.09001541  29.61857414  33.00432587  29.64652061  32.96396255\n",
      "  29.61792946  29.59657097  33.07703781  29.6309433   33.12062073\n",
      "  29.69966316  32.95790482  29.7582531   32.96581268  29.77598     33.09796906\n",
      "  29.79834366  33.11333466  29.82546806  34.97586441  29.86029434\n",
      "  32.9760704   29.88891029  29.92719078  29.98331451  30.01712799\n",
      "  33.35747147  30.03986359  30.08428192  30.10695839  30.11542511\n",
      "  30.15280724  30.17308998  30.20870209  30.21782112  30.23727417\n",
      "  30.24390221  30.25827408  30.26468468  30.2785778   30.33060265\n",
      "  30.39769745  30.42105484  30.40821075  30.30507088  30.3617363\n",
      "  30.43782425  30.41980934  30.51151466  30.59489059  30.65405846\n",
      "  30.71504402  30.77980042  30.8182373   30.81848335  30.81047058\n",
      "  30.87218094  30.87761307  30.85688591  30.91382408  30.96834946\n",
      "  31.02876091  31.07494354  31.0807991   31.08638191  31.08153725\n",
      "  31.12685204  31.14559555  31.20220566  31.19668007  31.21437263\n",
      "  31.25595856  31.3317318   31.32289505  31.34968567  31.36288261\n",
      "  31.4386425   31.44899178  31.48425102  31.52993202  31.55501366\n",
      "  31.56671143  31.57088852  31.59358597  31.60009575]\n",
      "[ 34.263309   3.832763  -0.914941] [ 2.56752799  1.15706832  1.0239    ]\n",
      "[ 26.1972599   26.25039482  26.33125687  26.36550903  26.41999435\n",
      "  26.46693611  26.53427124  26.62366676  26.67562294  26.74989128\n",
      "  26.79637527  26.84013748  26.86713409  26.93910789  26.99165726\n",
      "  27.00485992  27.03619194  27.09454536  27.14653778  27.18856239\n",
      "  27.27521515  27.3453331   27.38711357  27.42750168  27.45366287\n",
      "  27.5214901   27.57811165  27.60744667  27.67856979  27.76378822\n",
      "  27.83991051  27.87802315  27.91974449  27.95407677  28.01841736\n",
      "  28.02982903  28.05671883  28.10561752  28.19478607  28.27554512\n",
      "  28.32395744  28.29242325  28.27600288  28.27990341  28.30417442\n",
      "  28.3572731   28.44439125  28.49133873  28.58661461  28.63563728\n",
      "  28.61282539  28.63295364  28.69369888  28.70636177  28.75029182\n",
      "  28.80035973  28.8680954   28.97468758  29.02925873  29.13642693\n",
      "  29.18104935  29.23206329  29.27622795  29.31716156  29.34996986\n",
      "  29.45127487  29.49647713  29.50710678  29.51550293  29.45389175\n",
      "  29.43917656  29.43190956  29.44510078  29.4934864   29.44533539\n",
      "  29.42705154  29.40794754  29.41310692  29.42238426  29.42625046\n",
      "  29.50379181  29.60045052  29.63535118  29.67222786  29.67575264\n",
      "  29.70280075  32.39061356  29.73296547  29.73576927  32.38005829\n",
      "  29.79513359  32.10321045  29.85368919  29.87689781  32.25608444\n",
      "  29.92440224  32.22297287  29.90420914  29.88093948  32.03591537\n",
      "  29.89993858  32.12316895  29.92178345  32.22729874  29.90200424\n",
      "  32.19419479  29.91882324  29.95179176  32.1637764   29.91888618\n",
      "  30.00705338  30.02439499  32.49507141  30.07933235  32.52871704\n",
      "  30.13448524  30.15553665  30.1755352   30.21042824  30.25626373\n",
      "  30.26869202  30.24426651  30.26777458  30.26678276  30.2997551\n",
      "  30.30027199  30.37438774  30.46648598  30.50068855  30.5199852   30.585392\n",
      "  30.58683586  30.63339996  30.63014793  30.70051765  30.63469124\n",
      "  30.70244217  30.71811867  30.74743462  30.74466705  30.77751923\n",
      "  30.81603241  30.86037064  30.85046959  30.90226555  30.86784744\n",
      "  30.85919189  30.85429382  30.90708733  30.92358398  30.96976852\n",
      "  31.04363632  31.01950455  31.06303024  31.13191605  31.09723091\n",
      "  31.11961746  31.13215828  31.12249565  31.13229752  31.16403961\n",
      "  31.22089386  31.23613167  31.26245689  31.29710388  31.33947182\n",
      "  31.34732246  31.35964584  31.39047432  31.37557983  31.37322044\n",
      "  31.36975479  31.41578102  31.45504951]\n",
      "currently on  1492892613083538000\n",
      "[ 33.19111    3.814106  -0.921979] [ 2.57002028  1.1639488   1.0239    ]\n",
      "[ 27.34268188  27.43535995  27.47357941  27.55669785  27.60583115\n",
      "  27.68478394  27.7505703   27.81419373  27.89459419  27.96371078\n",
      "  28.01536942  28.05962944  28.08838272  28.140028    28.16810608\n",
      "  28.22458076  28.23018646  28.29574966  28.3345356   28.37530327\n",
      "  28.45553398  28.51465225  28.54949379  28.57350159  28.64347458\n",
      "  28.71176147  28.72821236  28.80147171  28.91910172  29.00504875\n",
      "  29.08599854  29.09953117  29.14260674  29.17400551  29.18772125\n",
      "  29.22619438  29.28483009  29.34136581  29.38418961  29.41521645\n",
      "  29.43765259  29.44046593  29.50308228  29.5021553   29.50930023\n",
      "  29.56610298  29.59163094  29.63759041  29.63152313  29.65481186\n",
      "  29.68913841  29.73495102  29.82073784  29.91108322  29.9719696\n",
      "  29.9848938   30.04449463  30.07932854  30.13262749  30.18478584\n",
      "  30.25032616  30.29409981  30.36222267  30.37709236  30.43103981\n",
      "  30.47194481  30.51959419  30.55607224  30.60817337  30.64824295\n",
      "  30.70564079  30.70581818  30.75        30.76942062  30.80522537\n",
      "  30.7874279   30.7400856   30.78421783  30.83756638  30.83968925\n",
      "  31.61754036  30.85020447  30.85450172  30.86050797  30.87875175\n",
      "  30.83335114  30.87820053  30.89971352  31.29630661  30.9440918\n",
      "  31.24946976  30.97768784  31.23350334  30.97729301  31.26498413\n",
      "  30.98574257  31.29540062  30.99476242  31.33235741  31.03245163\n",
      "  31.04588127  31.07361412  31.45534134  31.09108734  31.57247543\n",
      "  31.16352654  31.16509438  31.15247536  31.11414719  31.09901428\n",
      "  31.13224602  31.17238808  31.17080879  31.2304039   31.29176903\n",
      "  31.35555077  31.36426544  31.4135437   31.42007828  31.460289\n",
      "  31.49277115  31.48457336  31.58414268  31.63913345  31.67649651\n",
      "  31.68926239  31.72205162  31.73602486  31.72643852  31.77822495\n",
      "  31.89739418  31.90081024  31.94381142  31.96648216  32.00495911\n",
      "  32.01718903  32.04312897  32.034832    32.03419876  32.00951385\n",
      "  32.03621292  32.09679413  32.11916733  32.16301346  32.16301346\n",
      "  32.19644165  32.21559906  32.24264145  32.33531189  32.38557053\n",
      "  32.36343002  32.37342453  32.42533875  32.3980484   32.33573151\n",
      "  32.34835434  32.37465668  32.43925095  32.46660995  32.51234436\n",
      "  32.48326111  32.5742569   32.63906479  32.59957123  32.59061813\n",
      "  32.5819664 ]\n",
      "[ 32.482792   3.70125   -0.914046] [ 2.5735044  1.1736533  1.0239   ]\n",
      "[ 27.52019882  27.57876968  27.62045479  27.70697594  27.80267906\n",
      "  27.86079407  27.98247147  27.99886703  28.04878998  28.06075668\n",
      "  28.0995121   28.15027237  28.20360756  28.2484684   28.3258667\n",
      "  28.41425133  28.46288872  28.50501442  28.58594513  28.62642097\n",
      "  28.66790009  28.69267654  28.7569828   28.80579567  28.85631561\n",
      "  28.91279984  28.98017693  29.02479362  29.07114601  29.11297417\n",
      "  29.15507317  29.19016457  29.22605896  29.28102875  29.30187798\n",
      "  29.39893532  29.4514122   29.44566345  29.44420815  29.48439598\n",
      "  29.502388    29.547966    29.51235008  29.57104683  29.60501862\n",
      "  29.63075066  29.68495941  29.71094704  29.75422287  29.81482506\n",
      "  29.86123466  29.91753197  29.97863197  30.00882721  30.07426071\n",
      "  30.0933857   30.14558411  30.21142006  30.2603035   30.30699921\n",
      "  30.37992287  30.44585228  30.52532768  30.56228828  30.6167717\n",
      "  30.67499161  30.70240974  30.76396751  30.84519196  30.87606621\n",
      "  30.90337753  30.95044327  31.01111794  31.0494976   31.03382111\n",
      "  31.05188179  31.00952339  30.73585892  31.02820587  30.69302368\n",
      "  31.10259056  30.60484505  31.11286926  31.10235786  31.16431236\n",
      "  31.15328026  30.45235443  31.1446209   30.43151855  31.18726921\n",
      "  30.40244102  31.15361595  30.41618156  31.09249306  30.44219971\n",
      "  31.1609745   30.43699074  31.16939735  30.4789772   31.18038368\n",
      "  30.55142975  31.21552277  31.27771759  30.61662292  31.30690193\n",
      "  30.71331787  31.1074791   31.09331131  31.18730545  31.43546486\n",
      "  31.46284485  31.46406174  31.44706535  31.43300247  31.38393593\n",
      "  31.39998627  31.47890472  31.55029488  31.62940979  31.74788284\n",
      "  31.82678223  31.91485596  31.90889168  32.01868439  32.04856873\n",
      "  32.05141449  32.08873749  32.10761261  32.07998657  32.10644913\n",
      "  32.07644272  32.07435226  32.06969833  32.06895447  32.11592102\n",
      "  32.10850906  32.10497284  32.12508774  32.12296677  32.12855148\n",
      "  32.16986084  32.20885849  32.25355911  32.30615997  32.33833313\n",
      "  32.32028961  32.31808472  32.30931091  32.41040421  32.38903809\n",
      "  32.41170883  32.41614914  32.47024155  32.50410461  32.52916718\n",
      "  32.60237503  32.68664932  32.62164688  32.65013885  32.60857391\n",
      "  32.70194626  32.75313568  32.81995773  32.88931656  32.92276382\n",
      "  32.97315598  33.02774048  33.05270004  33.05499649]\n",
      "[ 31.399978   3.636118  -0.914621] [ 2.57438901  1.1761336   1.0239    ]\n",
      "[ 27.54506874  27.62025833  27.67320633  27.74996376  27.83810616\n",
      "  27.914711    27.93480682  28.01843452  28.05528259  28.09721565\n",
      "  28.15216446  28.22230339  28.26173592  28.30879211  28.38169479\n",
      "  28.39986801  28.44952583  28.48501968  28.52281761  28.53435707\n",
      "  28.55901718  28.61325836  28.66957664  28.71655273  28.78782082\n",
      "  28.84401131  28.88851929  28.930439    28.98509407  29.02129745\n",
      "  29.08477592  29.12091064  29.20139885  29.21308517  29.26891899\n",
      "  29.28202438  29.29740906  29.27706146  29.32874489  29.35697174\n",
      "  29.36101913  29.43079758  29.45958328  29.4939518   29.53540802\n",
      "  29.56933212  29.61470604  29.66259575  29.70867157  29.72881317\n",
      "  29.79950333  29.83705139  29.86824799  29.95792961  30.00438118\n",
      "  30.04776764  30.11640358  30.18388939  30.24318886  30.32203674\n",
      "  30.39575005  30.43587494  30.46591949  30.51041794  30.59218407\n",
      "  30.63635254  30.69588661  30.75844383  30.84513283  30.85996246\n",
      "  30.91065216  30.92782784  30.98392296  30.19826889  30.22206879\n",
      "  31.14167023  29.75412178  31.1135807   29.63825607  31.18569183\n",
      "  29.63246727  31.15706444  29.60920906  31.23194885  29.57838821\n",
      "  31.22198677  29.59171104  31.28316116  29.60266876  31.27730942\n",
      "  29.58235931  31.30953979  29.62398148  32.20433426  31.32304382\n",
      "  29.64294052  31.30168343  29.66673279  31.2902565   29.73043823\n",
      "  31.27118874  29.77259254  31.29467773  29.86728668  30.20883369\n",
      "  29.97270966  30.22498894  31.41272354  31.43038368  31.47721863\n",
      "  31.46846008  31.58455658  31.61551476  31.62912369  31.6033535\n",
      "  31.64708328  31.72213936  31.85343742  31.89211082  31.91884613\n",
      "  31.9068737   31.97324753  31.99695206  32.06874847  32.08214188\n",
      "  32.10887909  32.15187073  32.13234711  32.11057663  32.0488205\n",
      "  32.05646896  32.06994247  32.10897446  32.15183258  32.15255356\n",
      "  32.15096664  32.155056    32.16288757  32.19441605  32.23174286\n",
      "  32.27871323  32.31141281  32.38576889  32.45994949  32.46569443\n",
      "  32.47356796  32.57058334  32.59193039  32.59049606  32.58296967\n",
      "  32.61108017  32.64538956  32.65898132  32.67255783  32.75968933\n",
      "  32.78407669  32.89821243  32.96615219  33.01819229  33.06796265\n",
      "  33.13938141  33.11999893  33.13061905  33.19363022  33.23705292\n",
      "  33.27313614  33.26913834  33.33199692]\n",
      "[ 30.677692   3.606653  -0.9089  ] [ 2.57506103  1.17802232  1.0239    ]\n",
      "[ 28.22339058  28.31556892  28.36655045  28.40002632  28.45805359\n",
      "  28.51969147  28.54490471  28.58138084  28.65949249  28.703125\n",
      "  28.73705482  28.80923843  28.87697029  28.92197227  28.97571182\n",
      "  29.02412224  29.0281353   29.05667686  29.10445023  29.1229496\n",
      "  29.16304016  29.23239136  29.25826073  29.34297371  29.3972435\n",
      "  29.41001511  29.41625404  29.46027374  29.46064949  29.51000214\n",
      "  29.56246948  29.57801056  29.62035561  29.68048096  29.70689392\n",
      "  29.7821312   29.81455231  29.86550331  29.87225151  29.89289856\n",
      "  29.94312859  30.00359154  30.05024719  30.1095829   30.16947937\n",
      "  30.17261505  30.19146347  30.23899651  30.25813103  30.33958244\n",
      "  30.39148712  30.4283905   30.48555946  30.53787231  30.6329689\n",
      "  30.65043831  30.71672249  30.80047798  30.80934525  30.8739872\n",
      "  30.96497726  31.03421402  31.13467979  31.23010635  31.32912254\n",
      "  31.4241848   31.5021801   31.5830555   31.65865517  29.29158401\n",
      "  29.14276505  29.12237167  29.1081562   31.57648468  31.74112892\n",
      "  31.78607178  31.85396957  31.88389969  31.89570808  31.87482643\n",
      "  31.36296844  28.68777847  31.42446518  28.82965088  29.01914597\n",
      "  29.1204586   29.02305794  29.08490372  29.27937698  32.17547226\n",
      "  32.16278076  32.33044052  32.44519424  32.47607803  32.50554276\n",
      "  32.49604034  32.50222778  32.56000137  32.57635117  32.61965179\n",
      "  32.57955933  32.63570023  32.71075058  32.74505615  32.78510284\n",
      "  32.81738663  32.92100906  32.9642601   32.97967911  33.00442886\n",
      "  32.95487976  32.93146515  32.88539505  32.87136841  32.8828125\n",
      "  32.91411209  32.96292114  32.98561096  32.95406342  32.97616577\n",
      "  33.02796555  33.03554916  33.10481262  33.18766403  33.24038696\n",
      "  33.31681442  33.31884003  33.31068039  33.33648682  33.33792877\n",
      "  33.37250137  33.34960938  33.43985748  22.6040554   33.39804077\n",
      "  22.6273098   33.45998001  22.63625145  33.53733826  22.6591301\n",
      "  33.58074951  22.67543602  33.6272583   22.69415855  33.64447403\n",
      "  22.73195076  33.68236542  22.74410248  33.77846527  22.77970886\n",
      "  33.83400726  22.81934547  33.8657074   22.83434677  33.99196625\n",
      "  22.85765648  34.00113678  22.87052727  33.96177292  22.87952614\n",
      "  33.99628448  22.90059662  34.02900696  22.91651344  34.05997849\n",
      "  22.91500282  34.10954285  22.93643379  22.94608116  22.98806381\n",
      "  23.01517105  23.05396461  23.09692001  23.1506958   23.19320107\n",
      "  23.23702049  23.25578308  23.29272652  23.32644272  23.36486626\n",
      "  23.39470291]\n",
      "[ 29.946921   3.632168  -0.902855] [ 2.57640501  1.18181136  1.0239    ]\n",
      "[ 30.14661598  30.20536423  30.20744324  30.30544472  30.33336449\n",
      "  30.38384819  30.41092491  30.4838047   30.483675    30.57380104\n",
      "  30.57858849  30.64332008  30.70159912  30.75964928  30.82738876\n",
      "  30.79877472  30.84809113  21.89598274  30.83836365  21.89039993\n",
      "  30.85140991  21.90873146  30.90802383  21.91619492  30.92249107\n",
      "  21.91577911  30.96752548  21.92775345  31.04659653  21.92128563\n",
      "  31.00536728  21.92603111  30.99947739  21.95475006  31.04883575\n",
      "  21.97071266  31.11782837  21.94686699  31.17364311  21.9605484\n",
      "  31.17338562  21.98176003  31.25534058  21.99893761  31.2614975\n",
      "  22.03333092  31.34575653  22.0695591   31.36693573  22.08612061\n",
      "  31.4332428   22.11425972  31.51618767  22.12952614  31.55935478\n",
      "  22.14478111  31.59391785  22.17243576  31.64706802  22.21723938\n",
      "  31.70052147  22.22398567  31.72517204  22.23358917  31.78545761\n",
      "  22.24466133  31.81664085  22.25974464  31.86083603  22.30119896\n",
      "  31.91735077  22.30386925  31.98494339  22.31256485  31.99322891\n",
      "  22.33869553  32.0737648   22.36151314  32.10815811  22.3696804\n",
      "  32.20006561  22.39090538  32.25270462  22.4222374   32.28922272\n",
      "  22.43914604  32.31971359  22.45890808  32.34583282  22.47150803\n",
      "  32.38365173  22.47926903  32.48514175  22.4500885   32.52540588\n",
      "  22.43647194  32.60381317  22.42328072  32.65248108  22.42100525\n",
      "  32.72643661  22.4166317   32.83488846  22.42378235  32.9340477\n",
      "  22.42694092  28.02817917  22.44236565  22.45285606  27.87132263\n",
      "  22.47384071  27.79961586  22.49324036  27.76787567  22.50597954\n",
      "  27.92714119  22.51565361  27.91341019  22.49783325  27.87763977\n",
      "  22.51698494  27.87920952  22.51909256  27.86340141  22.542799\n",
      "  27.84934235  22.5767231   27.85745621  22.56641006  27.83895683\n",
      "  22.58257866  27.87492752  22.57231522  27.86244583  22.5915947\n",
      "  27.78416252  22.57256699  27.8004303   22.58907127  27.85821724\n",
      "  22.60739136  27.96551704  22.62432098  22.62639046  28.08308601\n",
      "  22.63658524  22.66248512  22.65406418  31.10889244  22.65937805\n",
      "  22.67246819  34.37138748  22.69165802  34.42318726  22.69871521\n",
      "  34.48866272  22.69960213  34.54787064  22.68609047  34.61037827\n",
      "  22.70077705  34.84487534  22.70256424  34.88457108  22.690485\n",
      "  34.91641998  22.69460869  34.90481186  22.71245575  34.96866989\n",
      "  22.74343109  34.97540283  22.74455452  34.97421265  22.73788452\n",
      "  34.99724197  22.76836586  35.03313828  22.77309036  35.02536011\n",
      "  22.78957748  34.98932648  22.79191017  34.97293854  22.82184029\n",
      "  34.98600769  22.84572411  35.02294159  22.86931229  35.06141663\n",
      "  22.894804    35.09775925  22.89416885  35.10183716  22.92318916\n",
      "  35.15945053  22.96206284  35.15494156  23.00069427  35.14606476\n",
      "  23.02125168  35.10303879  23.02558899  35.08958435  23.04970551\n",
      "  35.11182404  23.04769325  35.13976669  23.07140732  35.17938232\n",
      "  23.06699181  35.15275955  23.10435486  35.21386337  23.09157944\n",
      "  35.23460388  23.10253525  35.31097031  23.1253376   35.32720947\n",
      "  23.12202263  35.28924179  23.14036942  35.24885559  23.17246819\n",
      "  35.00046921  23.18840599  35.09527969  23.21025467  35.09612656\n",
      "  23.21183014  35.27815247  23.24127388  23.27018356  35.2579155\n",
      "  23.29940796  23.33604813  35.21907425  23.3503437   35.3093605\n",
      "  23.37303352  35.35039139  23.39884377  35.43798447  23.44083786\n",
      "  35.48805237  23.46419907  35.52108765  23.47989273  35.55259323\n",
      "  23.51530075  35.60970306  23.53458977  35.65655899  23.56302452\n",
      "  23.5898571   35.72649002  23.62842751  35.69673157  23.63827133\n",
      "  35.70947266  23.67442513  23.72229767  23.74413109  23.77530479\n",
      "  23.80863953  23.82107925  23.86433029  23.88578033  23.91670799\n",
      "  23.95689583  23.98995972  24.01037216  24.02313805  24.01689339]\n",
      "[ 28.929427   3.656649  -0.908582] [ 2.57649554  1.18206716  1.0239    ]\n",
      "[ 20.878088    20.91768646  20.96861649  21.01211357  21.06255341\n",
      "  21.11654663  21.16674232  21.22818565  21.27846909  21.32059288\n",
      "  21.39064407  21.42612648  21.48301315  21.51935768  21.56150436\n",
      "  21.61016464  21.64314461  21.67285728  21.70137405  21.72180748\n",
      "  21.74765396  21.78737831  21.82275581  21.87387848  21.92860413\n",
      "  21.96029854  21.98756409  22.00226974  22.01842308  22.05534935\n",
      "  22.09326553  22.13353157  22.14723396  22.16953278  31.46849442\n",
      "  22.12396622  31.55208588  22.14394379  31.61100578  22.17828941\n",
      "  31.608675    22.19982338  31.66523361  22.22810936  31.69852829\n",
      "  22.25501633  31.66112328  22.25696373  31.65202522  22.24078941\n",
      "  31.64046478  22.24536896  31.65150642  22.26312447  31.67183304\n",
      "  22.26039696  31.76500893  22.26737404  31.84399986  22.2880249\n",
      "  31.90261269  22.2942791   32.00876617  22.3236599   32.07755661\n",
      "  22.33721542  32.1102562   22.34973907  32.15582657  22.3359642\n",
      "  32.17840195  22.36645699  32.2153244   22.37731934  32.25475311\n",
      "  22.38129997  32.33214951  22.39757347  32.34405136  22.41267204\n",
      "  22.44993401  22.47149086  22.47351265  32.34576797  22.47919464\n",
      "  32.31827545  22.51184273  32.40032578  22.54814911  32.48490524\n",
      "  22.55910873  32.54130554  22.58829117  32.60270309  22.58631516\n",
      "  32.68853378  22.61230659  22.61846161  32.76539612  22.63824654\n",
      "  32.88316345  22.63921928  32.7813797   22.63912773  32.58999634\n",
      "  22.63464546  32.54517365  22.63332367  22.65690613  32.74136353\n",
      "  22.67131424  32.74847031  22.65379524  32.78516769  22.65798187\n",
      "  32.81912613  22.6655407   32.86125565  22.69403648  32.89357376\n",
      "  22.70862007  32.91383362  22.73209572  32.94258118  22.71952248\n",
      "  33.00854874  22.70726395  32.97384262  22.69155884  33.02248764\n",
      "  22.69787407  33.04527664  22.6961937   33.0569725   22.70148849\n",
      "  33.12651062  22.71908379  33.15055466  22.69445038  33.16833115\n",
      "  22.66563797  22.69712257  27.16914558  22.677742    22.64432144\n",
      "  22.66003227  26.90652847  22.6843071   27.03329659  22.69822693\n",
      "  27.05111313  22.74051094  22.76536942  22.7835865   22.75513458\n",
      "  22.74525452  26.80899239  22.75943375  22.74671745  27.9887886\n",
      "  22.74862289  27.02091026  22.75473404  26.89948082  22.76130676\n",
      "  26.92711258  22.77494049  26.9878521   22.78356361  27.17060471\n",
      "  22.77414894  22.77524376  22.79721451  27.23973846  22.79156303\n",
      "  27.94755936  22.79096603  22.79253387  22.80055046  34.4372673\n",
      "  22.83021736  34.4719162   22.81866455  34.56017303  22.8280468\n",
      "  34.61617279  22.84460258  34.60523987  22.82117653  34.70364761\n",
      "  22.80976295  34.76434326  22.82403183  34.83671188  22.82017708\n",
      "  34.90481949  22.79995918  34.9503479   22.80388832  35.05013275\n",
      "  22.79304314  35.05690384  22.79039383  35.08396912  22.79931641\n",
      "  35.10247421  22.82434845  35.04936218  22.82492256  34.99941254\n",
      "  22.82532501  34.97313309  22.83577919  34.96495438  22.84975815\n",
      "  35.00198746  22.85558701  34.97484207  22.87320328  35.09521866\n",
      "  22.87086868  35.10175705  22.89416885  35.0798645   22.88721848\n",
      "  35.13537979  22.91014099  35.11291122  22.91890144  35.15205765\n",
      "  22.93540573  22.9557457   35.11153412  22.98187256  35.08984756\n",
      "  22.97387314  35.0059166   22.99760628  34.99560547  23.00118637\n",
      "  35.06890106  23.02260017  35.10005569  23.037714    35.1047554\n",
      "  23.06469917  35.21118927  23.0555191   35.2113533   23.06408882\n",
      "  35.20521927  23.07455063  35.25085068  23.0966835   35.20616531\n",
      "  23.1108799   23.12650681  23.1362133   35.04478836  23.13959885\n",
      "  35.10673141  23.15257454  35.06230164  23.16568756  35.08196259\n",
      "  23.19654846  35.09934616  23.17122269  35.0602684   23.21763802\n",
      "  35.10900116  23.22355652  23.2558651   35.16334915  23.28922844\n",
      "  35.17653275  23.30894852  35.17422485  23.31681252  35.25576782\n",
      "  23.34155273  35.27394485  23.35472107  35.27674866  23.37732887\n",
      "  35.29273224  23.40369797  35.26658249  23.41195107  35.31578064\n",
      "  23.45249557  23.46829033  23.49341965  23.49166107  23.52070999\n",
      "  23.52968216  23.54127121  23.56725311  23.5954113   23.61983681\n",
      "  23.64311218  23.65521622  23.70475578  23.71396065  23.7175293 ]\n",
      "[ 28.354672   3.705868  -0.91019 ] [ 2.57961335  1.19092121  1.0239    ]\n",
      "[ 20.30684471  20.34164047  20.39709473  20.44144249  20.48935509\n",
      "  20.54233932  20.58930779  20.63319016  20.66770554  20.68832016\n",
      "  20.7118187   20.70605659  20.73294067  20.76621437  20.79561234\n",
      "  20.84582138  20.88050652  20.88887787  20.91573524  20.93680573\n",
      "  20.9568882   20.99393272  21.0324955   21.055336    21.08813286\n",
      "  29.29458809  21.11817169  29.34209251  21.13048363  29.34019852\n",
      "  21.15014076  29.4022522   21.15765572  29.48522377  21.17439842\n",
      "  29.4634285   21.18969727  29.51537132  21.22185135  29.52534294\n",
      "  21.24125671  29.55043983  21.26808548  29.58670425  21.26934433\n",
      "  29.63773155  21.27944565  29.63383865  21.27193451  29.67268372\n",
      "  21.26567268  29.70804977  21.2729187   29.79603958  21.2834053\n",
      "  29.81569099  21.30709457  29.85232353  21.30605507  29.84970093\n",
      "  21.32555389  29.82450294  21.34297752  29.82393265  21.36045837\n",
      "  29.87599945  21.3370285   29.9045887   21.34257317  29.90235329\n",
      "  21.35157394  29.91996574  21.34501266  29.89688873  21.34503746\n",
      "  29.90576935  21.34006691  29.92348289  21.34636497  29.95355415\n",
      "  21.35441589  30.02205467  21.36325645  30.0453434   21.36707306\n",
      "  30.06508064  21.39580536  30.08143806  21.41279984  30.13749123\n",
      "  21.44512367  30.1293602   21.46658707  30.17463875  21.46757317\n",
      "  30.1523838   21.48390198  30.18813705  21.48240852  30.23977089\n",
      "  21.48476791  30.23615456  21.51114082  30.27242851  21.52092361\n",
      "  30.31310463  21.52052498  30.36568832  21.53772545  30.39811897\n",
      "  21.5442009   30.47603798  21.55879021  30.50839615  21.56962585\n",
      "  30.54213142  21.5615406   30.59240532  21.57083321  30.61700821\n",
      "  21.58231926  30.67052078  21.59786606  30.69766808  21.61564255\n",
      "  30.71850967  21.62737846  30.73911095  21.6345005   30.81058502\n",
      "  21.65960503  30.81303978  21.64796638  30.88303566  21.66163254\n",
      "  30.91742325  21.62729645  30.9584713   21.61239815  30.99733353\n",
      "  21.5992775   31.00053978  21.58989334  31.08425331  21.55401993\n",
      "  31.14200592  21.57377052  31.17208672  21.56577873  21.57455063\n",
      "  21.57069969  26.13352776  21.57594299  26.0636673   21.57959938\n",
      "  26.06139946  21.60872459  26.18345261  21.61882973  26.17352486\n",
      "  21.60019684  26.15082169  21.57147026  26.14171791  21.58304596\n",
      "  26.13907433  21.58210754  26.13605118  21.6136322   26.13754082\n",
      "  21.61822701  26.12409401  21.60188675  26.12116623  28.75637054\n",
      "  21.60759735  26.14832687  28.84208298  21.61268616  26.14497375\n",
      "  21.61406326  26.04067612  21.61483002  26.07855606  21.60352325\n",
      "  26.16591454  21.61822701  21.63274574  21.62126732  26.3409214\n",
      "  21.61320114  21.63942528  21.6349678   29.42494202  21.63796234\n",
      "  21.63976669  32.2009697   21.63845444  32.21586227  21.6137104\n",
      "  32.25929642  21.59899139  32.22319031  21.58522987  32.25927353\n",
      "  21.58403778  32.25046539  21.59009361  32.2166748   21.59845161\n",
      "  32.28102493  21.58776665  32.27791595  21.58180237  32.28987122\n",
      "  21.605093    32.38068771  21.60232162  32.2817421   21.60173798\n",
      "  32.2189827   21.60258865  32.19927597  21.61954308  32.24367142\n",
      "  21.61589813  32.28108978  21.62235641  32.29276657  21.61678696\n",
      "  32.39818954  21.65640068  32.29893875  21.67239189  32.36187744\n",
      "  21.68399239  32.3623085   21.69750404  32.36062241  21.72670937\n",
      "  32.31858444  21.74590492  32.3463974   21.74882126  32.24388885\n",
      "  21.77351379  32.27297592  21.77811813  32.20995712  21.81044197\n",
      "  32.26848984  21.81667137  32.23888397  21.8266983   32.22497559\n",
      "  21.81857681  32.24873734  21.81627083  32.21032333  21.82769394\n",
      "  32.18154144  21.81904221  32.15858459  21.83416176  32.22925568\n",
      "  21.84106064  32.24963379  21.84593391  32.25198746  21.83642006\n",
      "  32.28767014  21.84075546  32.25528336  21.85310555  32.25688934\n",
      "  21.86717224  32.25410461  21.86484528  32.30857849  21.86429787\n",
      "  32.31081009  21.87198067  32.27350235  21.88913918  32.31531525\n",
      "  21.9001236   32.31892395  21.92125893  32.34275818  21.93963623\n",
      "  32.32157516  21.95423889  32.37452316  21.97065163  32.41722488\n",
      "  21.99461746  32.45332718  22.01464653  32.46556854  22.04592133\n",
      "  32.51266479  22.06158447  32.59609604  22.08076286  32.64494324\n",
      "  22.08183479  32.63371658  22.09096909  32.60473633  22.08568954\n",
      "  32.583004    22.1146698   32.59779358  22.13053703  32.58896255\n",
      "  22.13694572  32.63257217  22.14877129  22.18658447  22.2043438\n",
      "  22.23501968  22.24683762  22.26318359  22.30395317  22.34254074\n",
      "  22.36217499  22.39882088  22.42790794  22.45377159  22.47447014\n",
      "  22.49845123]\n",
      "[ 27.043257   3.744706  -0.918578] [ 2.58000087  1.19202784  1.0239    ]\n",
      "[ 18.97673225  19.01339149  19.04685783  19.08685684  19.11159325\n",
      "  19.17134476  19.21160698  19.24080849  19.29292107  19.33283806\n",
      "  19.3572197   19.37747383  19.39783096  19.40594101  19.43228722\n",
      "  19.45759964  19.50164986  19.54095268  19.57270813  19.60388565\n",
      "  19.65582657  19.67089081  19.69846153  19.72113037  26.98714066\n",
      "  19.73616982  27.03471756  19.7579174   27.06146049  19.77744675\n",
      "  27.08633995  19.79754829  27.09396172  19.83244324  27.16314316\n",
      "  19.86277962  27.22306824  19.89115906  27.250494    19.88993835\n",
      "  27.27028847  19.90917206  27.28417778  19.8999958   27.29025459\n",
      "  19.94023132  27.32078743  19.96714973  27.38698387  19.98003006\n",
      "  27.4471302   19.97452545  27.47330475  19.97306633  27.51576424\n",
      "  19.98301315  27.5361042   19.98110962  27.55722237  19.99071503\n",
      "  27.59612274  20.01762009  27.62278175  20.03866005  27.66060829\n",
      "  20.06444359  27.6997509   20.06960487  27.72454834  20.10536957\n",
      "  27.73500633  20.10857201  27.77001762  20.11133766  27.79610825\n",
      "  20.0865593   27.82832336  20.06132126  27.8650322   20.08281898\n",
      "  27.87232971  20.08588409  27.89710999  20.07545853  27.89761162\n",
      "  20.08480453  27.93012238  20.10081863  27.94544601  20.11177063\n",
      "  27.96986008  20.11874771  27.94479942  20.12361145  28.01192093\n",
      "  20.14658928  28.06789589  20.12310982  28.12246704  20.11487579\n",
      "  28.13365555  20.1247406   28.18068504  20.15954208  28.21203232\n",
      "  20.18555832  28.23220825  20.19789314  28.24441719  20.2215004\n",
      "  28.2762928   20.25501633  28.33021545  20.28303719  28.3492527\n",
      "  20.29363823  28.38115501  20.33234406  28.37081528  20.33789635\n",
      "  28.40107918  20.34521675  28.43113136  20.33956528  28.42314529\n",
      "  20.34459305  28.45470238  20.34907341  28.5214119   20.33542252\n",
      "  28.56512642  20.37851334  28.58455276  20.36527824  28.62503433\n",
      "  20.3733387   28.67901421  20.39443016  28.73096275  20.41851616\n",
      "  28.76011276  20.42411232  28.81153107  20.43737984  28.85296631\n",
      "  20.43815613  28.90596199  20.44451714  28.92246819  20.45404053\n",
      "  28.98387146  20.45683098  28.9832325   20.45553207  29.06883812\n",
      "  20.44355202  29.17380714  20.44054413  29.2343998   20.42751122\n",
      "  29.30856895  20.43334007  29.39348412  20.44550705  25.4175663\n",
      "  20.43663597  25.34970856  20.45690727  25.28768158  20.46010017\n",
      "  25.23381042  25.54870605  20.44790268  25.18234062  20.44680023\n",
      "  25.13387108  20.42291069  25.12203407  20.43276978  25.12184525\n",
      "  20.4252243   25.12210846  20.42640877  25.14911461  25.42114067\n",
      "  20.45803452  25.13905334  25.34778023  20.45836067  25.14521408\n",
      "  25.35798454  20.46838951  25.1412468   25.4095993   20.45799637\n",
      "  25.12855721  25.41880608  20.46326637  25.13349533  25.43574715\n",
      "  20.48267174  20.50191116  25.13787651  20.51700974  25.20421791\n",
      "  25.49491692  20.53153038  25.23018074  25.52098465  20.52249527\n",
      "  25.28623009  25.57120705  20.51684952  25.35154343  25.62273979\n",
      "  20.51972389  25.39377785  25.78639984  20.52130508  25.47815895\n",
      "  20.5396843   25.89177513  20.54129791  28.68100166  20.55732155\n",
      "  28.67358971  20.57582855  28.7456665   20.57758904  29.8781929\n",
      "  20.5586586   29.89729118  20.55405998  29.893116    20.55863762\n",
      "  29.87387848  20.55509949  29.88030052  20.57778549  29.90717125\n",
      "  20.57390404  29.96491814  20.56985855  29.93274879  20.58954048\n",
      "  29.97609329  20.59136581  30.02552223  20.61492157  30.02683449\n",
      "  20.62037086  30.06179237  20.6093235   30.12786674  20.61660194\n",
      "  30.15862083  20.62533569  30.20256615  20.62011337  30.20260429\n",
      "  20.62268257  30.18041611  20.63105392  30.17392921  20.64098549\n",
      "  30.20274925  20.65499878  30.21173477  20.65697098  30.22260857\n",
      "  20.68039513  30.20680809  20.70584679  30.16108704  20.72121811\n",
      "  30.12318993  20.73620033  30.12666702  20.74521255  30.12018204\n",
      "  20.75390053  30.13718605  20.78046417  30.16207314  20.81482887\n",
      "  30.17670631  20.82308197  30.17510605  20.81716919  30.11927032\n",
      "  20.82106781  30.14510727  20.83675194  30.16269112  20.83635521\n",
      "  30.19807816  20.85763931  30.22308731  20.85887337  30.24795341\n",
      "  20.8717823   30.23044586  20.90074539  30.29297066  20.923172\n",
      "  30.32674026  20.94575119  30.3627224   20.96587372  30.35210419\n",
      "  20.9780426   30.42938614  20.99989128  30.41239166  21.01171684\n",
      "  30.47918129  21.02507019  30.45745468  21.0367012   30.44810486\n",
      "  21.04403114  30.44828033  21.06677055  30.45368004  21.06577492\n",
      "  30.45933151  21.06241798  30.49038315  21.08277321  30.53511429\n",
      "  21.10692406  30.55364037  21.11541557  30.62839127  21.13720512\n",
      "  30.67030334  21.16477203  30.70594597  21.18815422  30.73532295\n",
      "  21.18973923  30.76481628  21.20080566  30.80160522  21.23584747\n",
      "  30.79472923  21.23031616  30.79467201  21.23945999  30.80964661\n",
      "  21.24546242  30.81697845  21.2638588   30.85483932  21.28533936\n",
      "  21.2882061   21.27951431  21.2971859   21.29998779  21.34306335\n",
      "  21.38947868  21.412323    21.45038605  21.48076439  21.51594925\n",
      "  21.53254509  21.55541039  21.58944321]\n",
      "[ 26.330956   3.677048  -0.920414] [ 2.57849002  1.18772109  1.0239    ]\n",
      "[ 18.2625103   18.30873108  18.3447628   18.39841461  18.42272949\n",
      "  18.45458794  18.49867058  18.54444122  18.57051086  18.60700035\n",
      "  18.64910889  18.68138885  18.73814583  18.77015495  18.81547356\n",
      "  18.85121155  18.88680458  18.91312027  18.92176056  18.93081856\n",
      "  18.94969749  18.98820305  19.03393936  19.0731163   19.10018921\n",
      "  19.13264656  19.16914368  19.20081711  19.23706245  26.04863167\n",
      "  19.25171089  26.1200695   19.28318787  26.18792343  19.29934692\n",
      "  26.21624947  19.31270218  26.26316071  19.33592415  26.30967331\n",
      "  19.38567543  26.34861755  19.39728165  26.37829399  19.42809105\n",
      "  26.42807388  19.44376945  26.4345417   19.45427513  26.49723434\n",
      "  19.46143723  26.53683281  19.48284721  26.55970192  19.5184803\n",
      "  26.60471725  19.5365181   26.64061356  19.53607368  26.68525314\n",
      "  19.53918457  26.72591209  19.5470314   26.79065132  19.54668427\n",
      "  26.81418228  19.57262611  26.81665802  19.57684517  26.86026192\n",
      "  19.60437584  26.88123703  19.62451935  26.88795853  19.63846016\n",
      "  26.94839287  19.67015457  26.98053551  19.68977928  27.00554657\n",
      "  19.69754028  27.05976105  19.71763039  27.12482262  19.69366837\n",
      "  27.14004517  19.68091774  27.14545631  19.66970062  27.151577\n",
      "  19.69477654  27.1813736   19.70155334  27.17782784  19.69745827\n",
      "  27.21011734  19.70767021  27.25018311  19.703228    27.27441978\n",
      "  19.70247459  27.29345703  19.73419762  27.34882355  19.75517654\n",
      "  27.36678505  19.72210503  27.41657448  19.71000862  27.43147087\n",
      "  19.75261688  27.48216248  19.78749847  27.50888824  19.81724358\n",
      "  27.50437164  19.82852745  27.54668427  19.85036278  27.57402039\n",
      "  19.87873077  27.62173843  19.90608215  27.62732697  19.92336273\n",
      "  27.68744278  19.96205521  27.71394157  19.98010063  27.75304031\n",
      "  19.98274422  27.78186989  19.9818325   27.8002758   20.00244713\n",
      "  27.80839539  19.99956131  27.86890411  20.01285744  27.91278267\n",
      "  20.03453636  27.96532631  20.02256203  27.98713112  20.05558968\n",
      "  28.0275135   20.05182838  28.08123207  20.06424141  28.13578796\n",
      "  20.08945084  28.17348099  20.09832573  28.21295929  20.10491371\n",
      "  28.24729729  20.12379646  28.27850914  20.1301651   28.33495903\n",
      "  20.11735344  28.3677063   20.1285553   28.43064308  20.11995697\n",
      "  28.49337959  20.11837387  28.5668087   20.12903786  28.62916565\n",
      "  20.1251545   28.64517975  20.12033463  24.54888153  20.12926865\n",
      "  24.47309685  20.14177704  24.41494942  20.15631676  24.35047531\n",
      "  20.17240715  24.31739235  20.15763664  24.31033897  24.60874557\n",
      "  20.16348648  24.42286491  20.15176582  24.43651581  24.59291267\n",
      "  20.14882278  24.47300529  24.5642128   20.16148949  24.47766304\n",
      "  24.48380852  20.15817833  24.47616386  24.5021019   20.18432617\n",
      "  24.4803772   20.1856308   24.48519516  20.16794777  24.48304939\n",
      "  20.18370438  24.46879578  24.6236248   20.20874023  24.46764183\n",
      "  24.63243484  20.23846626  24.3920002   20.24734497  24.32891083\n",
      "  24.60883141  20.26994133  24.34693527  24.69248581  20.2646389\n",
      "  24.40248489  24.6687336   20.26987648  24.45882988  24.74508286\n",
      "  20.28642845  24.51649094  24.87443542  20.29090691  24.56999207\n",
      "  24.94797325  20.2928524   24.69838142  20.32442093  25.2341671\n",
      "  20.32276917  27.77135086  20.31627655  27.77279663  20.3337841\n",
      "  20.33658409  29.29343605  20.33816528  29.38106346  20.32702827\n",
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      "  20.32497978  29.38409996  20.32710075  29.44384575  20.32134056\n",
      "  29.46785545  20.35322189  29.49759483  20.33891678  29.55667305\n",
      "  20.35432053  29.52978516  20.36997032  29.55708885  20.38741684\n",
      "  29.61404037  20.38836861  29.66420937  20.39115334  29.73411369\n",
      "  20.39776421  29.7838459   20.39240837  29.76371384  20.38673019\n",
      "  29.72913742  20.42102432  29.72463989  20.43882179  29.78323174\n",
      "  20.47275925  29.81414604  20.48056984  29.81082153  20.48992157\n",
      "  29.78285789  20.49728966  29.70697594  20.52841759  29.69673538\n",
      "  20.5452919   29.70405006  20.57807732  29.69731522  20.58279037\n",
      "  29.74630165  20.59321213  29.76292992  20.61948395  29.7514286\n",
      "  20.63160896  29.74965477  20.65154076  29.77559662  20.6513443\n",
      "  29.78730011  20.65292931  29.79869843  20.66440582  29.80797005\n",
      "  20.66965485  29.85485649  20.6907444   29.92553329  20.69564247\n",
      "  29.91397285  20.69828224  29.92400551  20.70887375  29.99392128\n",
      "  20.72319412  30.00752831  20.75738144  30.0250206   20.77133942\n",
      "  30.07005882  20.77913094  30.10483551  20.7948513   30.12158394\n",
      "  20.78250122  30.1480732   20.8076973   30.12618256  20.82074356\n",
      "  30.14793205  20.83540916  30.17312813  20.84865952  30.17921257\n",
      "  20.87091827  30.19389343  20.88742256  30.21289062  20.89732361\n",
      "  30.25889206  20.92716217  30.32884789  20.95705605  30.36498833\n",
      "  20.98703766  30.39328575  21.01405334  30.42814636  21.01925087\n",
      "  30.44716454  21.02425766  30.46391106  21.03336143  30.4688797\n",
      "  21.03800011  30.50499153  21.06297684  30.51987267  21.09704971\n",
      "  30.5494709   21.09680367  30.59219551  21.11331367  30.59639359\n",
      "  21.144804    21.15624237  21.1774025   21.19281769  21.21514511\n",
      "  21.22664261  21.28069305  21.31272507  21.34698486  21.37511063\n",
      "  21.42036819  21.43918419  21.47511482  21.48901749]\n",
      "[ 25.622967   3.591478  -0.923926] [ 2.57473042  1.17709264  1.0239    ]\n",
      "[ 17.56731224  17.61102295  17.67723274  17.70166397  17.7642498\n",
      "  17.81111145  17.86657333  17.90802002  17.95102501  17.97997665\n",
      "  18.02812576  18.07780075  18.11185455  18.1507206   18.18790054\n",
      "  18.21243858  18.23312187  18.27004242  18.34375954  18.38925934\n",
      "  18.43466759  18.48675919  18.52303505  18.55518532  18.59321404\n",
      "  18.63405418  18.65928268  18.70550156  18.74593544  18.77801323\n",
      "  18.83293915  18.87328339  18.93346024  18.98084641  19.01934624\n",
      "  19.07231903  19.11755753  19.16817474  19.2091713   19.23139381\n",
      "  19.25966644  19.28370476  19.28858185  19.31592178  19.35229492\n",
      "  19.3958416   19.42271042  19.45403481  19.49078369  19.52135658\n",
      "  19.54570198  19.56213188  19.59355927  19.64715385  19.66929245\n",
      "  26.81056213  19.70641518  26.85015488  19.73032761  26.89141655\n",
      "  19.78024864  26.95118523  19.7957592   27.04439163  19.82165527\n",
      "  27.0814724   19.82552147  27.06593132  19.85547829  27.10785866\n",
      "  19.86710739  27.11397552  19.89613914  27.13887215  19.924366\n",
      "  27.18218803  19.93991661  27.25009155  19.95271683  27.2665596\n",
      "  19.9603672   27.30196762  19.9860363   27.34446907  19.99334145\n",
      "  27.38895798  19.99403191  27.42725182  19.99754906  27.50298309\n",
      "  20.01454544  27.58909607  20.03173447  27.63443756  20.05635834\n",
      "  27.64529991  20.08652306  27.62537575  20.10510254  27.67382622\n",
      "  20.09953499  27.73395729  20.10523033  27.77482224  20.11179924\n",
      "  27.81121063  20.13260078  27.84882736  20.15011406  27.87423515\n",
      "  20.14080048  27.86200333  20.14569855  27.89886856  20.16080475\n",
      "  27.88904381  20.16914368  27.91771126  20.20699883  27.96127701\n",
      "  20.20822906  28.00738907  20.2188797   28.05714035  20.24377823\n",
      "  28.07906914  20.25894928  28.11867142  20.28737259  28.13045883\n",
      "  20.31855583  28.1368103   20.34287453  28.14743233  20.36111832\n",
      "  28.18549156  20.37648964  28.22928429  20.38274765  28.27270508\n",
      "  20.39868546  28.30182457  20.41230011  28.34282875  20.44367027\n",
      "  28.35555077  20.45305443  28.36692429  20.45557213  28.41577911\n",
      "  20.45124054  28.43407631  20.46780014  28.49532127  20.48177147\n",
      "  28.51986122  20.50965881  28.55140686  20.50851059  28.5766201\n",
      "  20.52161026  28.59682846  20.53692245  28.6498661   20.54652214\n",
      "  28.71565247  20.57081795  28.76257896  20.60400391  28.84744072\n",
      "  20.60840797  28.89396477  20.615839    28.94712639  20.59763908\n",
      "  29.00009918  20.60344505  29.02833176  20.61366081  29.05727386\n",
      "  20.61580276  29.12244606  20.60403633  29.19219017  20.58551216\n",
      "  23.74305534  20.56552315  23.73038483  20.56687546  23.71769333\n",
      "  20.56877518  23.53983498  20.57562828  23.47728539  20.59489822\n",
      "  23.45056915  20.60079956  23.61763382  20.61326981  23.60175323\n",
      "  20.62671089  20.65629959  20.66148758  20.68466949  23.36996269\n",
      "  20.69003868  23.35477638  20.70012283  23.36393166  20.69077301\n",
      "  20.68961716  20.70069313  23.56175041  26.06647873  20.7046299\n",
      "  23.45182228  20.70838356  23.44271851  20.71547508  23.49041176\n",
      "  26.09109879  20.72877693  23.60985947  26.23145103  20.73355484\n",
      "  20.74889755  23.68357849  24.15596581  20.75491905  20.76234245\n",
      "  23.78037643  20.75811958  24.40294075  20.76638794  20.78440666\n",
      "  20.79594421  20.79970932  30.38532448  20.79764938  30.42576981\n",
      "  20.81631279  30.47650909  20.82749176  30.49807739  20.8404789\n",
      "  30.47955704  20.84560966  30.50499153  20.83580017  30.49707222\n",
      "  20.84401512  30.54710579  20.83041763  30.58333588  20.84227943\n",
      "  30.61895943  20.82279587  30.60949135  20.84204865  30.64827347\n",
      "  20.85361099  30.64557838  20.83311462  30.63263702  20.82619095\n",
      "  30.63710594  20.8471756   30.62163544  20.86582565  30.66552544\n",
      "  20.87649727  30.70342445  20.89097214  30.75103951  20.90726089\n",
      "  30.78841591  20.91726875  30.77742577  20.91913414  30.7621994\n",
      "  20.92492676  30.8087883   20.9385128   30.81716537  20.94992447\n",
      "  30.77134514  20.96919823  30.76928902  20.9801178   30.77067375\n",
      "  20.98296165  30.82386017  21.009655    30.75505447  21.03210258\n",
      "  30.73181343  21.04841805  30.77628517  21.04858589  30.79650879\n",
      "  21.06254768  30.82647133  21.08431625  30.74030113  21.10187912\n",
      "  30.76769829  21.09736443  30.74495697  21.12056541  30.78183746\n",
      "  21.13958931  30.83042908  21.16647339  30.8408947   21.16726112\n",
      "  30.88507462  21.15573502  30.90677452  21.15607071  30.92431831\n",
      "  21.19820595  30.95174026  21.21425247  30.93498611  21.22799873\n",
      "  30.96970558  21.23956108  30.99616051  21.23698044  31.02433205\n",
      "  21.25248718  30.98884583  21.2852459   31.04018021  21.29225922\n",
      "  31.00395775  21.28874207  31.02277374  21.3055706   31.09406662\n",
      "  21.32180214  31.1006546   21.35951042  31.15447998  21.36363602\n",
      "  31.19473648  21.41909027  31.23834229  21.42511559  31.28044319\n",
      "  21.44607353  31.35695839  21.45317268  31.3698082   21.48623466\n",
      "  31.39277077  21.50917053  31.40352821  21.52961349  31.38370514\n",
      "  21.53991699  31.36560249  21.56427574  31.41537094  21.58412361\n",
      "  31.46235847  21.60935211  21.62121582  21.64877892  21.65591049\n",
      "  21.67870712  21.69931412  21.71463966  21.74277687  21.75683022\n",
      "  21.77812386  21.80063438  21.83188057  21.85499001  21.8660202\n",
      "  21.87091827]\n",
      "currently on  1492892614084383000\n",
      "[ 24.548058   3.564696  -0.924194] [ 2.57470165  1.17701179  1.0239    ]\n",
      "[ 17.83042908  17.87461853  17.91691208  17.94860458  18.00285721\n",
      "  18.04482079  18.09889984  18.15114594  18.20859337  18.26068878\n",
      "  18.31093597  18.35228348  18.39011383  18.43830109  18.4774437\n",
      "  18.53445816  18.58400536  18.63178444  18.6457634   18.67545128\n",
      "  18.6962204   18.70950699  18.74764633  18.78047562  18.81656265\n",
      "  18.85430145  18.90091705  18.95510292  18.99791527  19.04215431\n",
      "  19.09068298  19.14193344  19.1848526   19.2304306   19.27253723\n",
      "  19.32030487  19.3731308   19.40427399  19.43091202  19.45845604\n",
      "  19.50492477  19.54062843  19.55859947  19.59175682  19.61084938\n",
      "  19.63487434  19.66611862  19.70367622  19.74575233  19.79326248\n",
      "  19.83644676  19.8847065   19.91140366  19.94672012  19.96855927\n",
      "  19.99608803  20.01950645  20.06165695  27.44322205  20.08737755\n",
      "  27.46578217  20.10790443  27.52012825  20.12391472  27.55350494\n",
      "  20.14035416  27.59244156  20.13342667  27.62348557  20.14574242\n",
      "  27.67144775  20.17418289  27.68883705  20.20933342  27.70573425\n",
      "  20.24001694  27.75306511  20.23843384  27.76237106  20.24161339\n",
      "  27.81850815  20.23322868  27.86688042  20.2454567   27.89606476\n",
      "  20.2741642   27.97123337  20.2890892   27.99397469  20.30344391\n",
      "  28.02664375  20.32748032  28.04504204  20.35180664  28.03377151\n",
      "  20.37248993  28.0500927   20.38154793  28.08907127  20.40568924\n",
      "  28.12209511  20.39716339  28.13191032  20.41499519  28.13279724\n",
      "  20.43391991  28.16462898  20.43715668  28.15112305  20.46425056\n",
      "  28.17715263  20.49118042  28.22023773  20.48620605  28.24825668\n",
      "  20.52624512  28.30823517  20.56131363  28.33006477  20.57411766\n",
      "  28.34530067  20.57613564  28.36353493  20.57988167  28.40395927\n",
      "  20.56993866  28.4712429   20.58876991  28.49969864  20.60348511\n",
      "  28.51113319  20.62869453  28.53069687  20.65774536  28.55914688\n",
      "  20.67191315  28.61050797  20.687994    28.64367104  20.71146965\n",
      "  28.69651222  20.71967506  28.74824715  20.74668884  28.79484558\n",
      "  20.75045013  28.83691597  20.75764465  28.91226387  20.74433899\n",
      "  28.94533348  20.74089432  28.95446968  20.74551964  29.02136993\n",
      "  20.75226212  29.06632423  20.74907494  29.10326767  20.75699425\n",
      "  29.1441021   20.75343704  29.20213699  20.77780151  29.2336235\n",
      "  20.79344749  29.29714012  20.80574226  29.31838226  20.81518555\n",
      "  29.34621429  20.82585907  29.38364601  20.78593826  29.43261719\n",
      "  20.79876518  22.97777176  20.82453728  22.86528015  20.85535622\n",
      "  20.87751007  20.88378906  20.88462257  22.60459328  20.91477585\n",
      "  22.57061577  20.94552994  20.96021461  22.52101898  20.96565056\n",
      "  20.96417427  20.95150185  20.96232414  22.49426842  20.94445038\n",
      "  22.49683952  20.95096779  22.50991631  20.96376419  20.96943855\n",
      "  20.97842789  22.53531647  25.32874298  20.99068642  22.55017281\n",
      "  21.01218224  22.56433296  21.00825691  22.59863853  20.98982048\n",
      "  22.64416885  21.0057621   22.73613548  21.00478935  22.78136253\n",
      "  21.00364876  22.8224659   21.00712204  22.9318161   21.01355743\n",
      "  22.98650932  21.0162468   23.579916    21.02990532  21.0306282\n",
      "  21.05262756  26.25545883  21.06581879  30.78917503  21.0679493\n",
      "  30.86375618  21.07551193  30.89182281  21.09282875  30.9295845\n",
      "  21.10370064  30.95270729  21.11838531  30.96762848  21.12153816\n",
      "  31.01102448  21.11996078  31.09717369  21.14210129  31.12931061\n",
      "  21.14268303  31.23370171  21.1525383   31.22747421  21.15625381\n",
      "  31.30873299  21.18413925  31.29668045  21.20145226  31.27971649\n",
      "  21.22278595  31.31067085  21.21567154  31.22707748  21.22686958\n",
      "  31.31364822  21.21760178  31.32360649  21.22625923  31.36947632\n",
      "  21.23672295  31.37715149  21.20300865  31.41230965  21.1713562\n",
      "  31.48951912  21.15123558  31.51618195  21.1568737   31.51864052\n",
      "  21.16052628  31.49115562  21.16366768  31.51483154  21.17293358\n",
      "  31.52274132  21.18587685  31.54216576  21.20871544  31.56946564\n",
      "  21.22928619  31.59436417  21.25567627  31.58505058  21.26397324\n",
      "  31.5715332   21.27604485  31.5796814   21.3118782   31.53960228\n",
      "  21.31362152  31.5092659   21.32517624  31.50665474  21.33249092\n",
      "  31.50167465  21.34369087  31.4865551   21.3646965   31.45520973\n",
      "  21.37740898  31.43538857  21.39207268  31.48941231  21.42242622\n",
      "  31.44318199  21.43086624  31.46290398  21.4647274   31.421978\n",
      "  21.49650574  31.44882393  21.50629807  31.45563316  21.52573586\n",
      "  31.46995735  16.48290253  21.52122498  31.52814674  16.5064373\n",
      "  21.5261631   31.48578453  16.53207779  21.53922653  31.50751686\n",
      "  16.55957031  21.55809593  31.50505638  16.60251236  21.56044006\n",
      "  31.50573158  16.62374306  21.57894135  31.54463005  16.6327343\n",
      "  21.58708191  31.562994    16.65151215  21.61693001  31.57309151\n",
      "  16.68443108  21.62318802  31.55374146  16.70469666  21.63647079\n",
      "  31.59481621  16.71747971  21.64040565  31.62480545  16.74536514\n",
      "  21.65924835  31.65929413  16.74970818  21.67448616  31.70029259\n",
      "  16.7715435   21.70713615  31.72862625  16.78726387  21.71571732\n",
      "  31.77856064  16.80110168  21.74828339  31.81872177  16.82220078\n",
      "  21.75613213  31.85959816  16.8337574   21.75850487  31.90912437\n",
      "  16.85111809  21.79248428  31.92457008  16.85982704  21.79771996\n",
      "  16.86500168  21.79755783  16.86211395  21.81508064  16.85909843\n",
      "  21.81456566  16.85166168  21.82535362  16.85561562  21.84541512\n",
      "  16.84658432  21.86459923  16.83243179  21.87630272  16.82243156\n",
      "  21.89616966  16.8146286   21.93411827  16.81027412  21.93575287\n",
      "  16.81602287  21.95746994  16.82084465  21.99378204  16.80065346\n",
      "  21.99136543  16.80203247  22.02038574  16.80440521  16.79761124\n",
      "  16.78871536  16.79061127  16.7735672   16.76970291  16.76466751\n",
      "  16.76790047  16.75966263  16.74441719  16.73736382  16.7424221\n",
      "  16.7335968   16.72907639  16.72833633]\n",
      "[ 23.842636   3.516126  -0.920964] [ 2.572819    1.17173617  1.0239    ]\n",
      "[ 18.10877228  18.1458168   18.19668579  18.22473907  18.28415489\n",
      "  18.333004    18.36417198  18.42334366  18.48602104  18.53442001\n",
      "  18.5739975   18.61878014  18.65973473  18.70252991  18.73620796\n",
      "  18.79124451  18.82289505  18.86509705  18.8967762   18.93140793\n",
      "  18.95708466  18.98098564  19.0477047   19.08215332  19.12684822\n",
      "  19.16465569  19.19872856  19.23940086  19.27837563  19.30115128\n",
      "  19.32559204  19.35140038  19.38797379  19.41959381  19.45921135\n",
      "  19.4971981   19.54457283  19.59331322  19.63497925  19.67022324\n",
      "  19.69322777  19.69395065  19.69816208  19.71422005  19.7416153\n",
      "  19.77303123  19.82608604  19.85860443  19.91243553  19.93860054\n",
      "  19.97627831  20.01194954  20.04802895  20.07276535  20.12427902\n",
      "  20.15621376  27.78044891  20.19117165  27.83682632  20.22344208\n",
      "  27.84252548  20.25750351  27.8381424   20.28261185  27.86182594\n",
      "  20.29877853  27.90429306  20.32166862  27.90296555  20.34437943\n",
      "  27.8862133   20.35505486  27.94145775  20.37673569  27.97689819\n",
      "  20.37691689  28.03344727  20.40956306  28.07221031  20.41315269\n",
      "  28.11699677  20.44312668  28.18440628  20.45815277  28.2472229\n",
      "  20.43647766  28.26100349  20.47088051  28.31229782  20.47814751\n",
      "  28.36603928  20.52288246  28.33066559  20.54727936  28.33733368\n",
      "  20.56851959  28.3823967   20.56582832  28.36941338  20.56482697\n",
      "  28.37909698  20.56151962  28.42013168  20.58798409  28.4441967\n",
      "  20.58918571  28.31339836  20.60183334  28.3713932   20.61226082\n",
      "  28.38022232  20.63119888  28.44023895  20.64222336  28.44724846\n",
      "  20.6733551   28.4792881   20.67442703  28.52902985  20.67917633\n",
      "  28.59331322  20.69431877  28.67298126  20.69866371  28.71247101\n",
      "  20.72702217  28.7717514   20.72906494  28.79920006  20.73774719\n",
      "  28.84259987  20.75191307  28.86499786  20.76217842  28.91573334\n",
      "  20.78585815  28.95851707  20.8113308   29.00693703  20.84721565\n",
      "  29.00382233  20.87406731  29.03273582  20.85544586  29.10857201\n",
      "  20.85856247  29.1506691   20.85674858  29.18162155  20.82001686\n",
      "  29.22378349  20.8283329   29.27492332  20.84465599  29.27283287\n",
      "  20.85843658  29.30392265  20.87246895  29.30914688  20.88438225\n",
      "  29.33566856  20.90787315  29.35217667  20.92802048  29.42042923\n",
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      "  21.91832161  20.94994736  21.86042404  20.96589088  21.81194687\n",
      "  21.00329971  21.7712059   15.78682709  21.02220345  21.74132729\n",
      "  15.80039406  21.05012321  21.69874954  15.80646038  21.07065582\n",
      "  21.67629051  15.80013943  21.0766201   21.66086197  15.80547237\n",
      "  21.10604286  15.82444286  21.11168671  15.8284359   21.15182495\n",
      "  15.82748222  21.14923668  21.63391685  15.83665848  21.15492249\n",
      "  21.63784599  15.84807873  21.13334274  21.64016151  15.87193012\n",
      "  21.12570572  15.88071156  21.10909271  21.66571426  15.88382339\n",
      "  21.13823318  21.67336273  24.46201324  15.87380028  21.13799095\n",
      "  21.68716049  15.88253403  21.14501953  21.70828056  15.88841438\n",
      "  21.1449337   21.73612404  15.89057446  21.14910889  21.76628304\n",
      "  15.90049648  21.16299438  21.80816078  15.88622475  21.16832352\n",
      "  21.85337257  15.89620304  21.18031311  21.9172039   15.89714622\n",
      "  21.18684196  21.96364784  15.90256786  21.20794296  22.04458618\n",
      "  15.90556145  21.22449112  15.93051052  21.23533058  22.95248795\n",
      "  15.92789364  21.27018166  15.93417358  21.30172729  15.9389143\n",
      "  21.29416466  25.47227287  15.94377995  21.29470634  30.77215195\n",
      "  15.94426632  21.29270744  30.84639168  15.95030975  21.29614258\n",
      "  30.89802361  15.95623016  21.30338669  31.00317574  15.96424294\n",
      "  21.31077576  31.05483437  15.98601723  21.31599236  31.12416649\n",
      "  15.99155426  21.31476402  31.14901352  16.00689697  21.31535339\n",
      "  31.18556976  16.01259422  21.32029724  31.24859619  16.02370644\n",
      "  21.31853867  31.35043907  16.03904343  21.30516434  31.51859093\n",
      "  16.03779602  21.3227272   31.49404144  16.06079865  21.3129406\n",
      "  31.43836212  16.06726265  21.32022476  31.4771347   16.0699501\n",
      "  21.33375168  31.53426552  16.08258247  21.32736015  31.53954506\n",
      "  16.09862709  21.32818031  31.54570007  16.09506226  21.34132957\n",
      "  31.54043007  16.11310005  21.33019066  31.56854057  16.11286926\n",
      "  21.33251762  31.52607536  16.11881065  21.32913589  31.51194382\n",
      "  16.12639427  21.32129669  31.50511169  16.1359272   21.27352333\n",
      "  31.48422432  16.14930344  21.24350548  31.51298332  16.17242241\n",
      "  21.23513794  31.57128525  16.19156647  21.23475266  31.56368828\n",
      "  16.18649101  21.21997261  31.52349472  16.20728683  21.21913719\n",
      "  31.57515907  16.22192764  21.24798965  31.58251953  16.23448563\n",
      "  21.25477028  31.60168457  16.25488472  21.26738167  31.60263824\n",
      "  16.24919891  21.28172112  31.60519028  16.261343    21.30990982\n",
      "  31.5736084   16.27133751  21.3259201   31.5596962   16.30112267\n",
      "  21.33578491  31.56152725  16.31481171  21.3574028   31.52308464\n",
      "  16.29849815  21.35690117  31.49037933  16.29796982  21.36418915\n",
      "  31.52931404  16.30141068  21.35150719  31.53625488  16.31246376\n",
      "  21.35033989  31.56848717  16.30765152  21.37119484  31.54091263\n",
      "  16.32243156  21.39362907  31.48277473  16.31124878  21.41395378\n",
      "  31.38054657  16.31800652  21.41436768  31.41617203  16.32247734\n",
      "  21.45228004  31.44722939  16.32670403  21.47391319  31.46782494\n",
      "  16.3450222   21.49575996  31.48274994  16.37083435  21.52297401\n",
      "  31.46284485  16.40058136  21.53817558  31.45285416  16.43044662\n",
      "  21.55752182  31.39920425  16.44584084  21.57216644  31.40638542\n",
      "  16.46917343  21.58480072  31.40955353  16.49036598  21.585289\n",
      "  31.48026657  16.51753616  21.57983208  31.5749321   16.55251884\n",
      "  21.5901413   31.62146378  16.58301163  21.60774994  31.64308929\n",
      "  16.61769295  21.63162041  31.65916061  16.64825821  21.63541031\n",
      "  31.63910484  16.67229652  21.63648415  31.65187263  16.69263077\n",
      "  21.64786911  31.64325142  16.71259308  21.66275024  31.68174362\n",
      "  16.72692299  21.6740818   31.70292473  16.74038696  21.66441345\n",
      "  31.72047424  16.75988579  21.6906395   31.75410843  16.77975655\n",
      "  21.70145226  31.7506485   16.79867744  21.71700287  31.75933456\n",
      "  16.79986382  21.71283722  31.78811646  16.80119324  21.73466492\n",
      "  16.81793404  21.72813225  16.82262993  21.74323273  16.81989288\n",
      "  21.74110222  16.81209946  21.7553978   16.82064438  21.75844193\n",
      "  16.81253242  21.78023338  16.80892181  21.80072212  16.80715179\n",
      "  21.83488464  16.80450821  21.8381958   16.81233215  21.86205292\n",
      "  16.79988289  21.89114761  16.80584526  21.91314125  16.80060577\n",
      "  21.93338394  16.79955673  21.96577835  16.79286385  16.77576065\n",
      "  16.77033043  16.77549171  16.77916145  16.76541519  16.76379967\n",
      "  16.76156425  16.75966454  16.75466919  16.75052071  16.74427986\n",
      "  16.74077415  16.73371124  16.72312927]\n",
      "[ 22.784867   3.502567  -0.908137] [ 2.57280855  1.17170695  1.0239    ]\n",
      "[ 18.91413498  18.96707153  19.00581169  19.0408802   14.726861\n",
      "  19.11471558  14.73722363  19.17080116  14.75804615  19.22325516\n",
      "  14.78450775  19.24901581  14.79843426  19.28351402  14.82597828\n",
      "  19.33562088  14.86004829  19.37146759  14.88479328  19.40747261\n",
      "  14.9137907   19.4288063   14.93195248  19.46071243  14.94870567\n",
      "  19.4818306   14.97323036  19.51504707  15.00822639  19.54138756\n",
      "  15.02766991  19.56183624  15.05778122  19.60013962  15.06556416\n",
      "  19.63447762  15.09175396  19.65684509  15.11188984  19.70173264\n",
      "  15.13609982  19.75579262  15.16623688  19.79545975  15.19322109\n",
      "  19.82903099  15.21651554  19.86506462  15.23843861  19.90589905\n",
      "  15.25840664  19.94659424  15.28919506  19.98532867  15.30294132\n",
      "  20.02455139  15.33099747  20.07735252  15.35412025  20.12302971\n",
      "  15.3833189   20.15606499  15.40620327  20.19779778  15.44439697\n",
      "  20.2287178   15.46264458  20.26794243  15.48037243  20.32442284\n",
      "  15.47693062  20.3748703   15.49514389  20.401968    15.51094627\n",
      "  20.41652489  15.51996231  20.45542526  15.55000496  20.47234535\n",
      "  15.55316544  20.49977493  15.57369518  20.52752113  15.57736778\n",
      "  20.56443214  15.60612965  20.60071373  15.60411167  20.63446236\n",
      "  15.62124538  20.66213226  15.64028835  20.6717453   15.64897728\n",
      "  20.69933891  15.65639782  20.72844124  15.6741333   20.75192261\n",
      "  15.68976974  20.8008213   15.69686031  20.80385399  15.71130943\n",
      "  20.84622192  15.72750282  20.87902069  29.3744297   15.73790836\n",
      "  20.90538216  29.45759773  15.74817753  20.92276001  29.48930168\n",
      "  15.75829601  20.94183731  29.50748825  15.77679825  20.96708107\n",
      "  29.58244896  15.78005409  21.00164604  29.62690544  15.79632282\n",
      "  21.0081234   29.64225388  15.80396557  21.05874825  29.644207\n",
      "  15.81348038  21.06318092  29.69771194  15.84069824  21.09376907\n",
      "  29.78647804  15.85654163  21.10282135  29.80316734  15.87502766\n",
      "  21.12617302  29.73917389  15.89338207  21.14362526  29.70531464\n",
      "  15.91075993  21.1483078   29.70581818  15.90978432  21.18448639\n",
      "  29.78987885  15.93644619  21.21367073  29.83584404  15.93599319\n",
      "  21.22767067  29.92302322  15.93865967  21.21905136  29.96707153\n",
      "  15.91490173  21.23262596  30.05195618  15.93147182  21.23810768\n",
      "  30.09330559  15.94104195  21.27325821  30.13015938  15.93703938\n",
      "  21.2909565   30.1879425   15.94745827  21.29974556  30.1978302\n",
      "  15.95466518  21.31707001  30.25708961  15.95135975  21.33320808\n",
      "  30.30121422  15.94939041  21.37044334  30.29196358  15.95466709\n",
      "  21.36789131  30.21635818  15.942729    21.38159752  30.27020645\n",
      "  15.92073536  21.39800262  30.30424309  15.94509792  21.3881073\n",
      "  30.35180855  15.96476269  21.40218735  30.38228416  15.96814346\n",
      "  21.42870331  30.4131279   15.98560905  21.44241524  30.43728256\n",
      "  16.01001167  21.46278954  30.51037598  16.01239777  21.4867363\n",
      "  30.58197021  16.03783417  21.51365662  30.62621689  16.05738068\n",
      "  21.54695892  30.67012978  16.04379272  21.57164764  30.70619011\n",
      "  16.07858276  21.59486771  30.7320652   16.07958221  21.61705208\n",
      "  30.82859421  16.0720253   21.63627243  16.08184052  21.63583565\n",
      "  16.07655144  21.64967537  16.0886364   21.67894745  16.1019516\n",
      "  21.69358635  16.10596275  21.68342209  16.11121368  21.69770241\n",
      "  16.13112259  21.71723366  16.1439209   21.70375061  21.11946297\n",
      "  16.15714073  21.61831284  21.03551865  16.17306519  21.62130547\n",
      "  21.00484467  22.48345184  16.16893768  21.66156387  20.95247459\n",
      "  22.42403984  16.17391205  21.7558918   20.90504646  22.39310455\n",
      "  16.18657303  21.74409294  20.88292503  16.19910049  21.74582863\n",
      "  20.89402771  16.2203064   21.73031616  20.91744423  16.22128677\n",
      "  21.75787735  21.02334595  16.23488998  21.76822281  21.02349281\n",
      "  16.22526932  21.77902985  21.02210426  16.23814964  21.80218697\n",
      "  20.97002602  16.23655319  21.81521797  20.86032104  16.23041153\n",
      "  21.81758308  20.93130875  16.23155022  21.83296394  21.00160217\n",
      "  16.23495293  21.84481239  20.98739624  16.24172974  21.86774635\n",
      "  20.90920067  16.27284813  21.87385559  20.89509201  16.27739716\n",
      "  21.90434647  20.87972641  23.52412796  16.27984238  21.92282677\n",
      "  20.86219788  16.28807449  21.92334938  20.89793396  16.28312492\n",
      "  21.92867088  20.95430756  16.28948402  21.94317055  21.00211334\n",
      "  16.28779602  21.9832077   21.02399635  16.30734253  21.96518135\n",
      "  21.07300758  16.31095886  21.61224556  21.11196709  16.3368721\n",
      "  21.61047363  21.17744827  22.28089714  16.34219933  21.60562897\n",
      "  21.33518982  22.46494484  16.35927391  21.90791512  21.88793755\n",
      "  16.35507774  22.08611488  22.15771675  22.43818665  16.35772324\n",
      "  22.10029793  22.49423599  16.35322189  22.12545586  22.62099648\n",
      "  16.35759926  22.13733101  24.70763206  16.35477448  22.14820862\n",
      "  16.35718918  22.13032913  16.34387398  22.14639664  16.33834076\n",
      "  22.14041328  16.34233284  22.11799431  16.34667206  22.10398293\n",
      "  16.3503933   22.08117294  16.3520031   22.07409096  16.3574543\n",
      "  22.05887413  16.36496925  22.0656414   16.37849808  22.08044243\n",
      "  16.38534737  22.07237434  16.39822769  22.09624863  16.40536308\n",
      "  22.10449219  16.40836143  22.1204834   16.41089058  22.14780045\n",
      "  16.41727066  22.14705849  16.42366028  22.17223167  16.42978096\n",
      "  22.17113686  16.43390274  22.17401314  16.44373703  22.16657448\n",
      "  16.42757416  22.15497398  16.44928932  22.14744759  16.45872498\n",
      "  22.13547516  16.46612549  22.12742424  16.49328995  22.12117195\n",
      "  16.49841118  22.09278107  16.533144    22.11591148  16.53405952\n",
      "  22.12511444  16.55066681  22.13400078  16.56316376  22.11877441\n",
      "  16.59548569  22.12338257  16.60972595  22.1716671   16.62379074\n",
      "  22.19577408  16.65963364  22.19377899  16.67344666  22.2155571\n",
      "  16.68113327  22.20919991  16.6886692   22.23655891  16.69602203\n",
      "  22.22377396  16.6994133   22.24293518  16.7124424   22.23574448\n",
      "  16.70751572  22.21453857  16.73025894  22.19705963  16.74281693\n",
      "  22.22315407  16.75737762  22.21336937  16.75996017  22.22348022\n",
      "  16.7780304   22.26292229  16.78410721  22.25444412  16.8022213\n",
      "  22.27002335  16.81398201  22.27313232  16.82346344  22.28981018\n",
      "  16.82909775  22.30068207  16.83841515  22.33706665  16.82786751\n",
      "  22.3555336   16.83905602  22.35987663  16.83185577  22.34763145\n",
      "  16.85051346  22.36130142  16.87339211  22.34146309  16.87784958\n",
      "  22.34281349  16.91768265  22.3337326   16.93793106  22.33696365\n",
      "  16.95581627  22.35562134  16.98593903  22.34886932  17.01542473\n",
      "  22.37111282  17.04672623  22.36929893  17.08749962  22.36295319\n",
      "  17.117033    22.36345673  17.13594246  22.37098694  17.1543808\n",
      "  22.3679924   17.18149567  22.38781738  17.17781067  22.3824234\n",
      "  17.1901207   22.39706612  17.20458603  22.415905    17.20668983\n",
      "  22.42617226  17.1991024   22.45254326  17.20719719  22.46881485\n",
      "  17.21872902  22.47846794  17.20639038  22.49582481  17.2239151\n",
      "  22.51545715  17.23496819  22.55414581  17.22768784  22.58810997\n",
      "  17.24121666  22.59974861  17.24389839  17.24248314  17.2349987\n",
      "  17.23917389  17.24214745  17.23815155  17.2300663   17.25082207\n",
      "  17.25323105  17.2505703   17.25219536  17.23889351  17.22596169\n",
      "  17.20220757  17.20999527]\n",
      "[ 22.03821    3.475074  -0.89954 ] [ 2.57191656  1.169218    1.0239    ]\n",
      "[ 13.97361279  14.01368999  14.03718376  14.06062412  14.10041237\n",
      "  14.11860466  14.1466217   14.17781544  14.21389961  14.24321651\n",
      "  14.26239491  14.30329895  14.31719685  14.34771061  14.38306522\n",
      "  14.41693783  14.46233749  14.49595928  14.53431606  14.56436539\n",
      "  14.58906364  14.63082504  14.66553593  14.69861603  14.73637199\n",
      "  14.76755714  14.80552101  14.83997631  14.87216663  14.90965557\n",
      "  14.94556427  14.98113918  15.03077888  15.06591892  15.07189274\n",
      "  15.11055756  15.14449215  15.16930199  15.19334698  15.21548176\n",
      "  15.21880054  15.23603821  15.25982857  15.28524685  15.30561733\n",
      "  15.34181499  15.37396812  19.87969208  15.40068913  19.92389488\n",
      "  15.43041325  19.96792221  15.45819473  19.99769783  15.48411274\n",
      "  20.03964996  15.50677299  20.10479546  15.52797127  20.15738678\n",
      "  15.5588522   20.20612526  15.58567619  20.24242592  15.60961819\n",
      "  20.28019524  15.64063072  20.31420326  15.67333508  20.34082603\n",
      "  15.69976425  20.39107323  15.72683811  20.42281532  15.757411\n",
      "  20.45983124  15.7769928   20.49487114  15.79518509  20.51358986\n",
      "  15.81027794  20.54627419  15.83060265  20.56849861  15.86541748\n",
      "  20.60446548  15.88613129  20.66791725  15.90611362  20.69336891\n",
      "  15.92473602  20.7382946   15.94138145  20.79042053  15.9560442\n",
      "  20.83324432  15.97789669  20.87593079  15.98925591  20.90590096\n",
      "  16.0078373   20.94125748  16.02559853  20.96689987  16.05498123\n",
      "  21.00379944  16.07360649  21.03798103  16.08982277  21.06162643\n",
      "  16.10999489  21.10471916  16.12001038  21.14739799  16.14174461\n",
      "  21.18276787  16.15666389  21.2239666   16.18149948  21.28407669\n",
      "  16.21102142  21.3100853   16.22445869  21.34757996  16.24920464\n",
      "  21.38024902  16.26236153  21.42305374  16.28577614  21.43527603\n",
      "  16.30324554  21.45392799  16.31245041  21.48775101  16.32881355\n",
      "  21.50179482  16.33580589  21.52395058  16.36128235  21.56020164\n",
      "  16.36596107  21.59443092  16.35919189  21.64926147  16.3617382\n",
      "  21.66125679  16.37445068  21.65850639  16.36432076  21.67947197\n",
      "  16.37200165  21.68133545  16.37005615  21.68804169  16.38874817\n",
      "  21.70459938  16.37511063  21.73939323  16.39544678  21.78354836\n",
      "  16.39667702  21.83138657  16.42525673  21.87838554  16.43748093\n",
      "  21.91880226  16.44119453  21.91164207  16.45517349  21.91308975\n",
      "  16.4821949   21.90516281  16.51098251  21.9696579   16.51905632\n",
      "  21.99697495  16.54184914  22.03055191  16.54178238  22.06173134\n",
      "  16.53280449  22.07658005  16.54392242  22.1208744   16.5603466\n",
      "  22.17487717  16.56463242  22.22745895  16.56922722  22.26384735\n",
      "  16.5643959   22.33650208  16.57557678  22.39081764  16.596241\n",
      "  22.43148232  16.61987305  22.44585991  16.64725685  22.46006584\n",
      "  16.65788841  22.49248886  16.68069077  22.51991081  16.68450546\n",
      "  22.57424736  16.70049667  22.59258652  16.70332909  22.62629128\n",
      "  16.70423698  22.63550758  16.70554161  22.6387558   16.69640541\n",
      "  22.60280991  16.68508148  22.58137894  16.698246    22.56931305\n",
      "  16.69376564  22.56870079  16.68134117  22.54058075  16.69987679\n",
      "  22.54925728  16.69756126  22.55215454  16.700243    22.53115845\n",
      "  16.7008152   22.54899216  16.70648766  20.62066841  16.7034359\n",
      "  20.45771599  16.71272659  20.34774399  20.38508415  16.71797562\n",
      "  20.18655968  20.31193352  16.71247673  20.24387932  20.09860992\n",
      "  16.72525978  20.15463638  16.74433327  20.04616356  16.74510956\n",
      "  20.04273415  16.75214767  19.99655724  16.77028847  19.99864769\n",
      "  16.75989532  19.98802567  16.78365135  19.97993088  20.07196617\n",
      "  16.7739048   19.97362518  20.0144558   16.77972794  19.97896385\n",
      "  20.07500076  16.76867867  19.96754837  20.06557846  16.77814484\n",
      "  19.9725399   20.05876923  16.77265739  19.97648811  20.10223389\n",
      "  16.79168892  19.98114204  20.09903526  16.79681015  19.99155426\n",
      "  20.09962082  16.80857277  19.99691582  20.13665771  16.81102371\n",
      "  20.05586433  16.8165741   20.08657074  20.12958527  16.81087303\n",
      "  20.08599281  20.20421982  16.79952812  20.12133789  16.80065536\n",
      "  20.17725563  16.81544304  20.23103905  20.40109062  16.8234024\n",
      "  20.29366302  16.81937027  20.44527245  20.43527603  16.8250885\n",
      "  20.60673141  20.46205902  22.51752281  16.82706642  20.85772705\n",
      "  22.53141975  16.84901237  22.92884636  21.26473808  23.44548798\n",
      "  16.83815384  22.94552994  16.8373909   22.95258331  16.84305382\n",
      "  22.96823883  16.85647774  22.98566055  24.05422974  16.86063957\n",
      "  22.99530602  16.8757515   23.02226257  16.87429428  23.03434563\n",
      "  16.86305046  23.02873421  16.85984421  23.03717995  16.86192322\n",
      "  23.03477859  16.87950325  23.0656662   16.87385368  23.06156349\n",
      "  16.8836937   23.07084846  16.88699722  23.07536316  16.90252304\n",
      "  23.07233238  16.90220451  23.09523964  16.91108704  23.0932579\n",
      "  16.92040253  23.07792091  16.92324448  23.07183838  16.93208122\n",
      "  23.05583382  16.92684937  23.05954361  16.93141747  23.06305313\n",
      "  16.92958832  23.0301075   16.95986176  23.01347351  16.9817791\n",
      "  23.00823975  16.97582054  23.00497055  16.98165131  23.00747871\n",
      "  16.9911232   23.0434227   17.00463676  23.05552483  17.01004219\n",
      "  23.08936501  17.00740242  23.10315514  17.02631187  23.11248016\n",
      "  17.04720497  23.11780548  17.06197739  23.11694145  17.06067085\n",
      "  23.13781929  17.06715202  23.14050293  17.08943176  23.14899063\n",
      "  17.08569145  23.15330696  17.12961197  23.16343689  17.14150429\n",
      "  23.17333603  17.16522598  23.19504166  17.17284584  23.18660164\n",
      "  17.18831444  23.15206337  17.19564438  23.15719223  17.2186985\n",
      "  23.15805626  17.22782326  23.17090225  17.23065186  23.17533493\n",
      "  17.24142838  23.19171524  17.23796272  23.21166992  17.23470688\n",
      "  23.21794319  17.2408905   23.22352409  17.26492691  23.23700142\n",
      "  17.28283119  23.22634888  17.28665543  23.20353508  17.30850601\n",
      "  23.23470688  13.97780704  17.32183647  23.24518776  13.98972321\n",
      "  17.34325981  23.2279644   13.99345875  17.34250069  23.24221611\n",
      "  13.99338341  17.35784149  23.24676323  14.00268364  17.36058617\n",
      "  23.26634979  13.99812126  17.39713287  23.3018837   13.99938107\n",
      "  17.41562843  23.3013649   14.01059532  17.43020058  23.28499794\n",
      "  14.0155735   17.43845367  23.23433304  14.01485062  17.44104576\n",
      "  23.24974632  14.01741982  17.44081879  23.23420525  14.03192616\n",
      "  17.45654488  23.238657    14.02691841  17.47460556  23.23960304\n",
      "  14.02711296  17.50364304  23.21945763  14.03134632  17.54268456\n",
      "  23.23323631  14.03545189  17.54387474  23.23885345  14.02779961\n",
      "  17.55511093  23.24663353  14.03190136  17.55431175  23.24429703\n",
      "  14.03341484  17.56067467  23.24492073  14.02962875  17.57376099\n",
      "  23.25452614  14.04470921  17.58573151  23.25868416  14.05452633\n",
      "  17.61238861  23.26792145  14.05973625  17.64216805  23.27804947\n",
      "  14.06058598  17.65360641  23.28947258  14.05566788  17.68895531\n",
      "  23.31698418  14.06275654  17.70275116  23.32892227  14.05790043\n",
      "  17.71244812  23.36639977  14.0506506   17.73344803  23.36553955\n",
      "  14.02981091  17.73295975  23.3927002   14.00461102  17.73191261\n",
      "  23.40921402  14.00128555  17.7271843   13.98963928  17.72385406\n",
      "  13.98180676  17.71248245  13.98010635  17.70928764  13.9763279\n",
      "  17.71776962  13.97562695  17.71531868  13.97123623  17.71316719\n",
      "  17.71920967  17.73000717  17.71854782  17.72558403  17.73245049\n",
      "  17.72790337  17.75601387  17.76292038  13.9672308 ]\n",
      "[ 21.317914   3.444196  -0.897928] [ 2.56953735  1.16261162  1.0239    ]\n",
      "[ 13.60248375  13.64372444  13.67319393  13.7110281   13.73883152\n",
      "  13.78615379  13.81032085  13.84451389  13.87679958  13.89935207\n",
      "  13.93965149  13.98139858  14.0216074   14.05014896  14.08683968\n",
      "  14.11847019  14.15334415  14.18645     14.21446323  14.25901699\n",
      "  14.29349041  14.31794071  14.34714699  14.38297844  14.42222023\n",
      "  14.45780468  14.50019646  14.53558731  14.5812254   14.61496544\n",
      "  14.66728306  14.70074844  14.75454712  14.7758913   14.81793499\n",
      "  14.85256767  14.90594482  14.94075012  14.96687508  15.00494957\n",
      "  15.02546692  15.04088306  15.06952477  15.10745621  15.13586235\n",
      "  15.1698904   15.20005989  15.2266283   15.25686741  15.28318501\n",
      "  15.32134438  15.32348156  15.3339119   15.35052681  15.37968731\n",
      "  15.40064144  15.44866657  15.48498344  15.51193619  15.55162621\n",
      "  20.02700424  15.58726788  20.06219864  15.61788654  20.10621262\n",
      "  15.63323212  20.14641571  15.65421104  20.18292999  15.68136311\n",
      "  20.22126007  15.69670486  20.25569153  15.71010208  20.29536819\n",
      "  15.7323246   20.33669281  15.74720478  20.36705017  15.76244354\n",
      "  20.42809486  15.77212715  20.44745445  15.81729317  20.49726868\n",
      "  15.84553337  20.52863884  15.85717583  20.54403496  15.88207912  20.5625\n",
      "  15.91231251  20.59897614  15.9296751   20.62434387  15.95054245\n",
      "  20.65318489  15.98526096  20.69881439  16.00343513  20.72891426\n",
      "  16.04832077  20.76670647  16.06438446  20.81847     16.08039474\n",
      "  20.86364746  16.09680367  20.90994644  16.11373329  20.93248749\n",
      "  16.13285065  20.99291801  16.14512825  21.01664162  16.16348267\n",
      "  21.07936478  16.16693115  21.13090706  16.18428993  21.20420074\n",
      "  16.20632362  21.26404572  16.21450043  21.28264427  16.23810577\n",
      "  21.32363319  16.24451065  21.34110069  16.26006317  21.35838509\n",
      "  16.28508568  21.37644958  16.29770851  21.40783501  16.30165291\n",
      "  21.41708374  16.30648804  21.42564774  16.31863213  21.46771812\n",
      "  16.32294655  21.49755096  16.32644081  21.52941513  16.33710098\n",
      "  21.59788895  16.3477478   21.63319397  16.36939621  21.68639755\n",
      "  16.37874031  21.70686531  16.37654305  21.69622612  16.38276863\n",
      "  21.69490242  16.38407898  21.67502594  16.38237     21.70094299\n",
      "  16.38144302  21.73742294  16.38887405  21.77250481  16.39616394\n",
      "  21.81314278  16.40801811  21.83396149  16.40833473  21.87551498\n",
      "  16.41137695  21.91380882  16.4189682   21.93981552  16.45393181\n",
      "  21.98398781  16.4709034   21.99202728  16.4714756   22.0201683\n",
      "  16.50605583  22.04661369  16.53880501  22.04187965  16.57995224\n",
      "  22.05721092  16.60377502  22.08001328  16.62281418  22.11687469\n",
      "  16.64062881  22.15084457  16.64953041  22.21839905  16.65665436\n",
      "  22.27406311  16.65899849  22.3150692   16.65203476  22.36104202\n",
      "  16.67758369  22.41840935  16.68143272  22.44165611  16.69438171\n",
      "  22.48031425  16.69871902  22.51973534  16.71716499  22.54646873\n",
      "  16.73667526  22.57010269  16.74591446  22.61101723  16.74703217\n",
      "  22.6120224   16.7578907   22.65838623  16.78391838  22.68233109\n",
      "  16.78866196  22.69145203  16.810009    22.68970108  16.79948997\n",
      "  22.66348457  16.80113029  22.64377022  16.79417801  22.62097931\n",
      "  13.2491045   16.79614639  22.64257431  13.26056767  16.77851295\n",
      "  22.64383316  13.26372051  16.78598213  19.3990097   19.6362648\n",
      "  13.28081608  16.79532051  19.33366776  13.29344845  16.80442429\n",
      "  19.28583908  13.30158806  16.79715538  19.23901176  13.3071928\n",
      "  16.82230759  19.18539619  13.30684757  16.81609917  19.15504074\n",
      "  19.33380699  13.32049084  16.82204056  19.12122917  19.29807854\n",
      "  13.31992149  16.83312798  19.10222626  19.32424736  13.3274889\n",
      "  16.82312775  19.1895237   19.31952477  13.33146477  16.80763054\n",
      "  19.23617554  19.30149269  13.33597755  16.82753181  19.27494049\n",
      "  19.2283287   13.34557152  16.82149506  19.28205299  19.19805527\n",
      "  13.34442997  16.8259964   19.27991867  19.19783211  13.34985924\n",
      "  16.82353783  19.28469658  19.16909981  13.35355473  16.82870293\n",
      "  19.29286194  19.17130852  13.36070347  16.82592964  19.29138756\n",
      "  13.37282848  16.83379364  19.2885952   19.14915085  13.38169193\n",
      "  16.83462143  19.28082848  19.20241928  13.37828445  16.84463882\n",
      "  19.28217316  19.23330498  13.38775539  16.85162163  19.27439499\n",
      "  19.25509262  13.40410709  16.8637867   19.18520737  19.30793571\n",
      "  13.41177464  16.87292862  19.14010429  19.30824471  13.41968632\n",
      "  16.87055779  19.35830688  13.42679787  16.8829422   19.16777802\n",
      "  19.33805275  13.44072247  16.89647293  19.21198273  19.34677696\n",
      "  13.45386887  16.8893013   19.25707245  19.41373825  13.45771408\n",
      "  16.8867321   19.29899788  13.46276951  16.90294647  19.33591461\n",
      "  19.50071335  13.47560024  16.9032383   19.37072182  13.48498726\n",
      "  16.90216827  19.43990707  19.61486435  13.5035181   16.93378639\n",
      "  19.7100563   19.74268532  13.50054646  16.9458847   20.00046539\n",
      "  13.50478268  16.94527054  22.93504143  22.55597115  13.51369286\n",
      "  16.95940971  22.71752357  13.51996803  16.94897652  22.68509865\n",
      "  13.53257847  16.96676064  22.70490837  13.55048561  16.96197319\n",
      "  22.9557724   23.08617592  13.54063129  16.95110893  22.99227715\n",
      "  13.55485821  16.95654678  23.01950455  13.56233311  16.96689606\n",
      "  23.04136658  13.56445885  16.96211815  23.06025887  13.57173157\n",
      "  16.96824646  23.06589508  13.58506012  16.98047829  23.07173538\n",
      "  13.58880138  16.97920227  23.0860405   13.59834957  16.98569298\n",
      "  23.09018135  13.60936546  16.98757744  23.08350754  13.6163187\n",
      "  16.98734093  23.10051537  13.60947704  16.98520279  23.09576416\n",
      "  13.61637878  16.99483299  23.08483505  13.62894726  16.99219131\n",
      "  23.10725594  13.63577938  17.00570297  23.10216141  13.65194416\n",
      "  17.01451683  23.11997795  13.67227173  17.02356911  23.1261692\n",
      "  13.66882038  17.02469444  23.12442017  13.67662144  17.04091835\n",
      "  23.14946556  13.67491245  17.04771042  23.14332581  13.68684292\n",
      "  17.05021667  23.17861366  13.68653297  17.05628014  23.20935249\n",
      "  13.69834137  17.06260872  23.2424469   13.69810867  17.08269691\n",
      "  23.21750832  13.69558048  17.08250809  23.23789787  13.70882797\n",
      "  17.06029129  23.20626831  13.72792816  17.07177162  23.1983757\n",
      "  13.7371273   17.0832901   23.20249748  13.7420454   17.09043694\n",
      "  23.18614388  13.74504089  17.10961151  23.17388535  13.74776554\n",
      "  17.11451149  23.19906425  13.74852657  17.10749245  23.20034981\n",
      "  13.74915314  17.11026573  23.22335243  13.76146317  17.1326561\n",
      "  23.25793076  13.77178001  17.15504074  23.26855469  13.77600193\n",
      "  17.16729927  23.28094673  13.77808857  17.18335533  23.32500839\n",
      "  13.79199696  17.20327187  23.31504059  13.79387951  17.20712662\n",
      "  23.30688286  13.8115263   17.22476006  23.32045555  13.81117249\n",
      "  17.21635246  23.30589294  13.82857323  17.23567009  23.31706238\n",
      "  13.84394073  17.23103714  23.31618309  13.85515213  17.24409866\n",
      "  23.32097816  13.86425304  17.25899124  23.30562019  13.87918854\n",
      "  17.2637825   23.30202675  13.88804245  17.27040672  23.31418228\n",
      "  13.89478588  17.28882027  23.35006142  13.91340065  17.30121231\n",
      "  23.36193466  13.92784309  17.32330322  23.37746429  13.94017601\n",
      "  17.32732964  23.35889626  13.97441959  17.3394146   23.3544178\n",
      "  13.98254204  17.35508537  23.35739136  13.99439049  17.36647415\n",
      "  23.34601021  14.00436306  17.3919239   23.33083344  14.0101223\n",
      "  17.40314293  23.33717346  14.01405239  17.42448997  23.31189537\n",
      "  14.01759148  17.41553116  23.30390358  14.01307678  17.42430878\n",
      "  23.32358742  14.02611923  17.43273163  23.34876633  14.02168274\n",
      "  17.4416008   23.36458397  14.02472878  17.45587158  23.36174583\n",
      "  14.01756287  17.46975899  23.37033463  14.03044224  17.4601078\n",
      "  23.39125443  14.04103279  17.47787094  23.38182259  14.04991722\n",
      "  17.48803711  23.36292076  14.04442692  17.51739502  23.38888741\n",
      "  14.05662251  17.56046867  23.3907814   14.05856991  17.5614357\n",
      "  23.38216209  14.06305027  17.57102966  23.35659409  14.06497478\n",
      "  17.56007767  23.34597015  14.08851337  17.56879044  23.35102081\n",
      "  14.09240913  17.55586624  23.35826683  14.09197617  17.55832672\n",
      "  23.34108353  14.08378696  17.5629425   23.35389328  14.07888794\n",
      "  17.55880928  23.34576988  14.08625698  17.56708145  23.36412048\n",
      "  14.11688995  17.56693268  23.3718853   14.11247349  17.58120918\n",
      "  23.39626503  14.10113335  17.58630562  23.40706825  14.099823\n",
      "  17.60148811  23.41418457  14.10264492  17.61096954  23.42754936\n",
      "  14.09911823  17.62779427  23.45006371  14.09186172  17.64091873\n",
      "  23.45708656  14.09562111  17.65500259  14.08813     17.67765999\n",
      "  14.08053112  17.68438721  14.07995987  17.68611336  14.05997181\n",
      "  17.70387459  14.06380939  17.7061882   14.04594231  17.71032333\n",
      "  14.05112362  17.73151207  14.04008579  17.71860123  14.02073765\n",
      "  17.72525024  14.02709579  17.72184372  14.03610134  17.72913361\n",
      "  14.01868629  17.73518944  14.0098362   17.74019241  14.01456261\n",
      "  17.7724781   14.00699711  14.02078724  14.00906086  14.01961231\n",
      "  14.00717068  14.03015137  14.04128838  14.04694366  14.04807377\n",
      "  14.04038239  14.04656601  14.05118179  14.03733253  14.02369785\n",
      "  14.01435852  14.02038574]\n",
      "[ 20.295793   3.428415  -0.902282] [ 2.56953166  1.16259586  1.0239    ]\n",
      "[ 13.16664791  13.20547009  13.24172688  13.27280903  13.30726433\n",
      "  13.33987808  13.37695789  13.40618515  13.44655037  13.46418571\n",
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      "  13.84300804  13.87407303  13.91160393  13.93920612  13.97155476\n",
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      "  19.41979027  15.21214962  19.4758873   15.24746418  19.52297974\n",
      "  15.26532269  19.56645775  15.28127384  19.60983467  15.28722382\n",
      "  19.64933205  15.31133366  19.69056702  15.33629036  19.74265862\n",
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      "  19.97645378  15.53489113  20.00170135  15.55272961  20.04883003\n",
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      "  20.24515915  12.25765896  15.71605396  20.28211021  12.28329372\n",
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      "  12.30229187  15.75124645  20.37619591  12.31483936  15.76230812\n",
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      "  15.8021307   20.49217224  12.36650753  15.81163979  20.53995132\n",
      "  12.38873672  15.82509708  20.59608841  12.39980698  15.83655357\n",
      "  20.64286041  12.40607643  15.84895039  20.68350983  12.41974354\n",
      "  15.86270332  20.71186829  12.43886948  15.88374996  20.75309372\n",
      "  12.44308472  15.90467644  20.76627922  12.4562664   15.91087818\n",
      "  20.78951073  12.45467281  15.90920353  20.82097435  12.4723568\n",
      "  15.91958904  20.82751656  12.48994255  15.93168163  20.83757591\n",
      "  12.48612309  15.9388628   20.88912582  12.50082302  15.94589996\n",
      "  20.92183876  12.51701736  15.9473238   20.97395134  12.50721836\n",
      "  15.9671669   21.00450325  12.49056816  15.98413277  21.0568924\n",
      "  12.48157215  15.98584175  21.08022118  12.47772884  15.99125576\n",
      "  21.06456947  12.48500252  15.99650574  21.05807686  12.49102211\n",
      "  15.99689293  21.04693794  12.49730015  16.01027679  21.07269096\n",
      "  12.50723839  16.01975632  21.09451103  12.5151844   16.01020622\n",
      "  21.12184143  12.52752686  16.02977753  21.15971947  12.55980682\n",
      "  16.02936935  21.20191765  12.5745554   16.04578018  21.24260712\n",
      "  12.60030651  16.03468704  21.29284286  12.60538292  16.0583725\n",
      "  21.33703613  12.63305759  16.08951378  21.35441208  12.64461327\n",
      "  16.09420967  21.36121368  12.66451836  16.10797691  21.37247658\n",
      "  12.6772604   16.13890839  21.38504791  12.68420601  16.16593742\n",
      "  21.41272926  12.71074009  16.19943047  21.44519997  12.73593998\n",
      "  16.22982788  21.45564842  12.74573994  16.25760651  21.49514008\n",
      "  12.77456188  16.25524712  21.52436638  12.78227329  16.27706337\n",
      "  21.55975723  12.79689312  16.2831459   21.63939857  12.8209734\n",
      "  16.30441856  21.66708374  12.83409309  16.3033123   21.72255516\n",
      "  12.85291386  16.31121063  21.76706505  12.85562229  16.31669044\n",
      "  21.80967712  12.86203861  16.32778358  21.83093071  12.87410259\n",
      "  16.33873177  21.85971832  12.88413143  16.34568214  21.88640022\n",
      "  12.89731121  16.35944748  21.91963959  12.91617298  16.37309647\n",
      "  21.93920517  12.92395782  16.38154602  22.00020409  12.93877697\n",
      "  16.38526726  22.01558495  12.94496727  16.39412308  22.05787086\n",
      "  12.95958042  16.42078018  22.06708527  12.96498299  16.44220352\n",
      "  22.07510185  12.97306347  16.44857597  22.08109474  12.99231339\n",
      "  16.44714165  22.01967621  12.99543858  16.45262909  22.01732063\n",
      "  13.01587963  16.44825745  22.01085663  13.0163269   16.44890404\n",
      "  22.01304245  13.02636147  16.43385696  18.50853348  13.04211807\n",
      "  16.43032455  18.44971848  13.05099392  16.45124054  18.40180588\n",
      "  13.05925751  16.45775986  18.34904671  13.05720997  16.44988823\n",
      "  18.31100845  13.0574646   16.46391487  18.28124046  13.06538105\n",
      "  16.47389412  18.30796814  18.49134636  13.07032299  16.48649025\n",
      "  18.39978981  18.45995903  13.07412243  16.48838234  18.44194603\n",
      "  18.45711136  13.09145451  16.48621559  18.4173851   18.39720535\n",
      "  13.10044098  16.48138428  18.43904114  18.40513039  13.10737514\n",
      "  16.48032188  18.44291878  18.34615326  13.12091351  16.47039223\n",
      "  18.43998909  18.335289    13.11395359  16.48274803  18.42980576\n",
      "  18.31912804  13.1190176   16.48764992  18.44556046  18.31516838\n",
      "  13.12828064  16.47525787  18.44600677  13.13427258  16.48670197\n",
      "  18.4406662   18.29829407  13.13664627  16.4887085   18.43769646\n",
      "  13.14359856  16.49547195  18.42383957  18.3581295   13.15321445\n",
      "  16.4947567   18.43969727  18.38777161  13.15993023  16.49531555\n",
      "  18.42153549  18.42477417  20.9584713   13.17007923  16.50901985\n",
      "  18.37704086  18.43349075  20.95060539  13.17779541  16.51819801\n",
      "  18.48892593  13.18344784  16.53119087  18.2982769   18.44550323\n",
      "  13.19523525  16.54645538  18.34394836  18.45769882  13.19741821\n",
      "  16.54033089  18.37416649  18.54335213  13.21421242  16.55842209\n",
      "  18.41469574  18.59388161  13.22009277  16.56184578  18.47031212\n",
      "  13.22095585  16.57180405  18.49282837  18.65640831  13.23250198\n",
      "  16.58281898  18.52444458  18.67228699  13.23937607  16.58699036\n",
      "  18.59659004  18.74853706  19.90574455  13.24871349  16.58387566\n",
      "  18.87331009  18.87111473  13.25705338  16.59728432  19.18641281\n",
      "  19.32933998  20.80331039  13.24812698  16.60536385  22.31845093\n",
      "  21.73381996  13.26049423  16.61097527  21.79112053  21.71932602\n",
      "  13.26935673  16.60922432  21.77739906  13.28177643  16.61884499\n",
      "  21.76896858  13.28369999  16.62965965  22.0430603   13.28998184\n",
      "  16.63109207  22.383461    13.29812431  16.6185112   22.39845467\n",
      "  13.30243492  16.62984085  22.429533    13.32197094  16.63251305\n",
      "  22.44375229  13.32163811  16.6390152   22.4657402   13.33702278\n",
      "  16.63349533  22.46968651  13.33845997  16.64370537  22.48140144\n",
      "  13.35603142  16.6503315   22.47574425  13.3594265   16.67043495\n",
      "  22.48742104  13.3664732   16.65642357  22.50454903  13.38746262\n",
      "  16.65441322  22.50590134  13.39033985  16.65402222  22.50078964\n",
      "  13.39345169  16.66186523  22.50999832  13.40205193  16.6631813\n",
      "  22.51645279  13.40262127  16.67629051  22.50481415  13.41101456\n",
      "  16.68330765  22.52684021  13.4214325   16.70031357  22.51906967\n",
      "  13.43173409  16.70922661  22.51109505  13.44998455  16.69827271\n",
      "  22.52504539  13.45199203  16.70871925  22.52840805  13.46183109\n",
      "  16.71307182  22.52761078  13.46969318  16.72936821  22.56070137\n",
      "  13.47148323  16.71766281  22.58363152  13.47911072  16.7316761\n",
      "  22.56649971  13.48661804  16.7415638   22.55913162  13.48987675\n",
      "  16.73717499  22.53334427  13.49120903  16.73882675  22.53357506\n",
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      "  22.54320717  13.49840832  16.77070236  22.57287598  13.51312637\n",
      "  16.77370834  22.5642643   13.52182388  16.7706604   22.61140442\n",
      "  13.5303688   16.79728889  22.59844017  13.53886223  16.79199409\n",
      "  22.62329674  13.53723145  16.81633186  22.65381813  13.55938625\n",
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      "  22.69248962  13.56331921  16.86445045  22.69216537  13.56702709\n",
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      "  13.5819416   16.89078712  22.69807053  13.59328461  16.89604378\n",
      "  22.71306992  13.60637379  16.91693497  22.69176483  13.61353779\n",
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      "  13.72332001  17.00190163  22.74075508  13.73922825  17.02335548\n",
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      "  13.798913    17.09993744  22.76355362  13.8059473   17.11623955\n",
      "  22.75285149  13.81088829  17.12246895  22.76981926  13.81552219\n",
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      "  13.84420204  17.14947128  22.7728405   13.85460854  17.1809063\n",
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      "  17.21122551  22.75650215  13.90664864  17.20350838  22.75684166\n",
      "  13.92161465  17.20157242  22.75697327  13.91701412  17.19786453\n",
      "  22.77322388  13.90639114  17.20390701  22.78928375  13.91112614\n",
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      "  13.79298306  13.79328823  13.78571987]\n",
      "[ 19.730767   3.404513  -0.907126] [ 2.56955851  1.16267016  1.0239    ]\n",
      "[ 12.63278675  12.67191219  12.70646381  12.73741817  12.77616215\n",
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      "  20.56423569  12.40781784  15.6767025   20.61313629  12.43569374\n",
      "  15.70936584  20.6444149   12.44137383  15.73135376  20.66521072\n",
      "  12.46338558  15.76763248  20.70764732  12.47901821  15.78259468\n",
      "  20.73685074  12.50592041  15.80830765  20.77029228  12.51054096\n",
      "  15.8137331   20.80468559  12.53158188  15.8301878   20.87554169\n",
      "  12.54488182  15.85222912  20.91369247  12.56512165  15.84417057\n",
      "  20.92832375  12.57439137  15.85251808  21.01032448  12.58039761\n",
      "  15.86683559  21.05174065  12.59587765  15.86567307  21.08918953\n",
      "  12.62528324  15.87088299  21.10633087  12.6264267   15.88630199\n",
      "  21.11271858  12.6467905   15.89935589  21.13907814  12.65153599\n",
      "  15.92219734  21.17786789  12.65442562  15.92538357  21.22711945\n",
      "  12.67182636  15.92795277  21.25885773  12.66216755  15.94001579\n",
      "  21.29429626  12.66337776  15.96476269  21.30348778  12.66557121\n",
      "  15.9830513   21.3143425   12.68198872  15.99789715  21.31347656\n",
      "  12.70517826  16.01203537  21.2715435   12.7106905   16.0117321\n",
      "  21.25683403  12.71627998  16.01395226  21.26099968  12.73670578\n",
      "  16.00953293  17.68022156  17.84622383  12.74154282  16.02048111\n",
      "  17.62035179  12.75544739  16.01900291  17.56343079  12.76394176\n",
      "  16.00245857  17.52644348  12.76989365  16.02402115  17.47492218\n",
      "  12.78399181  16.02272606  17.43554878  17.56263351  12.78391075\n",
      "  16.01288986  17.43237877  12.79632187  16.04305458  17.54942894\n",
      "  12.7974968   16.04989243  17.5766201   12.8077364   16.06224442\n",
      "  12.8164978   16.06102943  17.55825615  17.54873085  12.82951641\n",
      "  16.06220627  17.58960724  17.52720261  12.83356953  16.05457497\n",
      "  17.59072304  17.49493408  12.83468056  16.06132889  17.59242821\n",
      "  17.47499657  12.8400116   16.06066132  17.57496834  17.47902489\n",
      "  12.84913445  16.06571388  17.58086014  17.46129036  12.85382748\n",
      "  16.08185768  17.58014107  17.44477844  12.87014389  16.07436752\n",
      "  17.5812397   12.87308121  16.07507896  17.57684326  12.87394524\n",
      "  16.07760239  17.55066299  17.5094738   12.87664413  16.07997704\n",
      "  17.58130836  17.53422356  12.89294052  16.09398651  17.57248116\n",
      "  17.54701805  12.89112186  16.08382225  17.5885601   17.57492256\n",
      "  20.11365318  12.90880013  16.09120178  17.60861969  12.90553379\n",
      "  16.10525513  12.92658234  16.12766838  17.45122147  17.58142281\n",
      "  12.9328928   16.13750839  17.48932076  17.62357521  12.93677139\n",
      "  16.14479828  17.52878571  12.95035934  16.14800835  17.61747169\n",
      "  17.74606705  12.95728683  16.16010857  17.64396667  12.96083641\n",
      "  16.18275833  17.66333008  17.82174301  12.96789265  16.19108582\n",
      "  17.6702652   17.814888    12.97546482  16.19216156  17.76290894\n",
      "  17.86811829  12.98457909  16.20454407  18.00732422  18.02575684\n",
      "  12.99328709  16.19469452  18.3997345   19.94064903  12.99598503\n",
      "  16.20841599  21.58490562  20.8780632   13.01266003  16.21643829\n",
      "  20.90988731  20.86600876  13.00923443  16.22793007  20.87546539\n",
      "  13.0200491   16.22810555  20.89322662  13.0203495   16.2393322\n",
      "  20.92977142  13.02449322  16.24647713  21.69973946  21.3955822\n",
      "  13.02853394  16.24558258  21.72630501  13.034935    16.24713898\n",
      "  21.75550842  13.04271317  16.25983238  21.76983261  13.05084991\n",
      "  16.25315857  21.77284622  13.06237125  16.257658    21.78284454\n",
      "  13.07181549  16.26401329  21.81055069  13.08314037  16.26231003\n",
      "  21.80233955  13.0846796   16.27064896  21.81018639  13.09797478\n",
      "  16.28678131  21.82380295  13.10324287  16.28888321  21.84121323\n",
      "  13.11000729  16.2864151   21.84588814  13.12316036  16.29244041\n",
      "  21.86323547  13.12792206  16.29787827  21.86787033  13.14447117\n",
      "  16.30716133  21.87034416  13.14538479  16.31472969  21.87516212\n",
      "  13.15181351  16.31977463  21.88125229  13.16408825  16.34257889\n",
      "  21.87721825  13.16846943  16.34953308  21.86328125  13.18265343\n",
      "  16.34242821  21.85910797  13.1947422   16.34313202  21.8567276\n",
      "  13.20263004  16.34751892  21.87986374  13.2025938   16.34992981\n",
      "  21.87910271  13.22614765  16.36201286  21.8660183   13.21606159\n",
      "  16.37023735  21.86105919  13.22758579  16.38017654  21.85772133\n",
      "  13.23485565  16.39175415  21.85790062  13.24227238  16.40152359\n",
      "  21.88025093  13.2375021   16.39503288  21.87623024  13.25255108\n",
      "  16.40640831  21.89607811  13.26147079  16.4115963   21.91763496\n",
      "  13.26438046  16.40875816  21.93711281  13.27710438  16.43365097\n",
      "  21.95640373  13.28967476  16.44042969  21.96546364  13.30015659\n",
      "  16.45505142  21.97435379  13.30462551  16.47756958  21.997118    13.3168745\n",
      "  16.47200394  22.02958488  13.32507896  16.48825455  22.04796982\n",
      "  13.32716084  16.50430489  22.04413795  13.32716942  16.53418541\n",
      "  22.04614639  13.32906246  16.53008461  22.06594086  13.33677292\n",
      "  16.53576851  22.07552719  13.33049583  16.53537369  22.09295654\n",
      "  13.32607079  16.54078674  22.09420395  13.33550549  16.54017067\n",
      "  22.08739471  13.34273338  16.55321884  22.08022308  13.35191536\n",
      "  16.56622505  22.0670166   13.35889149  16.57497978  22.07938194\n",
      "  13.3618927   16.59368324  22.09772301  13.37861729  16.60619354\n",
      "  22.10579872  13.38743496  16.6127758   22.12789154  13.39996147\n",
      "  16.62898636  22.13958549  13.41633701  16.64505005  22.15506935\n",
      "  13.43457603  16.65896797  22.15440559  13.45676327  16.66889     22.16168976\n",
      "  13.48060131  16.6863575   22.12857628  13.49672318  16.69813156\n",
      "  22.13967514  13.51249409  16.71146584  22.14821625  13.53210831\n",
      "  16.71868134  22.15257263  13.55541992  16.73749924  22.16447067\n",
      "  13.5611887   16.75073242  22.15894318  13.58439541  16.75352859\n",
      "  22.15674973  13.59574318  16.76034927  22.16656303  13.61077404\n",
      "  16.76284981  22.19582367  13.62153816  16.7630024   22.19275475\n",
      "  13.61668491  16.76145172  22.19801903  13.63369656  16.77588272\n",
      "  22.21733665  13.63022137  16.79145241  22.19377899  13.64503574\n",
      "  16.79371071  22.18292999  13.64922237  16.80697441  22.20469284\n",
      "  13.66338062  16.82033157  22.21068573  13.66158772  16.82956696\n",
      "  22.20852852  13.67002296  16.84912872  22.19898415  13.68776417\n",
      "  16.854105    22.2043972   13.69153976  16.8668499   22.23342323\n",
      "  13.70704079  16.86557388  22.21263123  13.7204361   16.87008476\n",
      "  22.21941948  13.72436523  16.86916351  22.21696091  13.71777821\n",
      "  16.86942673  22.22336769  13.73474503  16.87547112  22.21767807\n",
      "  13.7420063   16.86787796  22.23999405  13.75447083  16.86930466\n",
      "  22.26709366  13.7476902   16.87920952  22.25337029  13.73883247\n",
      "  16.88699532  22.29883194  13.7456255   16.88477135  22.2985878\n",
      "  13.73787403  16.88555908  22.3168869   13.72474861  16.9244709\n",
      "  22.33799362  13.71084499  16.92294121  22.35780334  13.71126842\n",
      "  16.94377708  22.36861801  13.7096138   16.95657539  13.70320225\n",
      "  16.98212051  13.70364571  17.00489426  13.70090771  17.02417374\n",
      "  13.68936443  17.03680992  13.68441582  17.05179596  13.67619991\n",
      "  17.05971909  13.68274689  17.07238197  13.68490791  17.0868988\n",
      "  13.6755352   17.09333229  13.67274094  17.08691216  13.66006374\n",
      "  17.10387421  13.65075684  17.09858704  13.64870071  17.12195396\n",
      "  13.64980698  17.12137222  13.63968563  13.6303606   13.62630939\n",
      "  13.61823654  13.60614967  13.60466099  13.6040163   13.61101532\n",
      "  13.6178751   13.60182953  13.60402489  13.59992599  13.5946455\n",
      "  13.59946632  13.59918213  13.5935154 ]\n",
      "[ 18.431304   3.43657   -0.915768] [ 2.57104446  1.16679098  1.0239    ]\n",
      "[ 12.51273537  12.53797531  12.57417297 ...,  11.13424301  11.11859035\n",
      "  11.11459255]\n",
      "[ 17.702044   3.4544    -0.917266] [ 2.5718197   1.16894813  1.0239    ]\n",
      "[  9.65164375   9.68104935   9.70892525 ...,  11.1664257    9.64652443\n",
      "   9.63629436]\n",
      "[ 16.982088   3.425988  -0.920648] [ 2.56828485  1.15915246  1.0239    ]\n",
      "[ 8.9308424   8.9549942   8.98825455 ...,  9.49189472  9.47797871\n",
      "  9.46980286]\n",
      "currently on  1492892615085272000\n",
      "[ 15.91507    3.386002  -0.925784] [ 2.56542075  1.15128976  1.0239    ]\n",
      "[ 8.43532276  8.46504784  8.5024271  ...,  7.93460035  7.93286753\n",
      "  7.91776609]\n",
      "[ 15.206878   3.334964  -0.918227] [ 2.56214901  1.14238667  1.0239    ]\n",
      "[ 7.16794109  7.19910431  7.2225008  ...,  7.98585176  7.97436666\n",
      "  7.96826458]\n",
      "[ 14.144529   3.214365  -0.901537] [ 2.5652045   1.15069874  1.0239    ]\n",
      "[ 6.29088497  6.32038212  6.34940195 ...,  6.11783695  6.14519453\n",
      "  6.17790079]\n",
      "[ 13.418792   3.187776  -0.894644] [ 2.56702863  1.15569578  1.0239    ]\n",
      "[ 5.37883615  6.20363855  5.40526342 ...,  5.96786022  5.99778414\n",
      "  6.02236223]\n",
      "[ 12.685703   3.185432  -0.885546] [ 2.56669608  1.15478282  1.0239    ]\n",
      "[ 5.24911737  6.05312967  5.27033091 ...,  5.86683559  5.11623955\n",
      "  5.89859724]\n",
      "[ 11.640301   3.249689  -0.891554] [ 2.56137659  1.14029669  1.0239    ]\n",
      "[ 5.14230394  5.92705202  3.93931913 ...,  5.81476641  3.86371827\n",
      "  4.35766983]\n"
     ]
    }
   ],
   "source": [
    "count = 0\n",
    "\n",
    "def get_patch(points, corners):\n",
    "    x_points = points[:, 0]\n",
    "    y_points = points[:, 1]\n",
    "    z_points = points[:, 2]\n",
    "    reflectance = points[:,3]\n",
    "    \n",
    "    range_min = np.min(corners, axis=0)\n",
    "    range_max = np.max(corners, axis=0)\n",
    "    center = (range_max+range_min)/2\n",
    "    size = np.abs(range_max - range_min)/2+0.3\n",
    "    print(center, size)\n",
    "    z_min = -2.5\n",
    "    \n",
    "    search_size = 5\n",
    "    z_max = min(-1.2, max(-1.2, center[2]/2))\n",
    "    \n",
    "    # filter capture vehicle\n",
    "    c_filt = np.logical_or(np.abs(x_points)>4.7/2, np.abs(y_points)>2.1/2)\n",
    "    \n",
    "    f_z = (z_points < z_max) & (z_points > z_min) \n",
    "    \n",
    "    k_means = cluster.KMeans(n_clusters=3)\n",
    "    \n",
    "    # filter obstacle vehicle \n",
    "    indices = []\n",
    "    \n",
    "    while(len(indices)<50) :\n",
    "        f_x = (np.abs(x_points-center[0]) > size[0]) & (np.abs(x_points-center[0]) < search_size)\n",
    "        f_y = (np.abs(y_points-center[1]) > size[1]) & (np.abs(y_points-center[1]) < search_size)\n",
    "        indices = np.argwhere(f_x & f_y & f_z & c_filt).flatten()\n",
    "        search_size += 5\n",
    "        \n",
    "   \n",
    "    xi_points = (x_points[indices]-center[0]+search_size).astype(np.int32)\n",
    "    yi_points = (y_points[indices]-center[1]+search_size).astype(np.int32)\n",
    "    zi_points = z_points[indices]\n",
    "    k_means.fit(zi_points.reshape((-1,1)))\n",
    "    labels, counts = np.unique(k_means.labels_ , return_counts=True)\n",
    "    ground_cluster = labels[np.argmax(counts)]\n",
    "    ground_height = k_means.cluster_centers_[ground_cluster][0]\n",
    "    #return ground_height\n",
    "            \n",
    "    \n",
    "    f_x = (np.abs(x_points-center[0]) < size[0]+5.5) \n",
    "    f_y = (np.abs(y_points-center[1]) < size[1]+5.5)\n",
    "    f_z = (z_points > ground_height-2.5) & (z_points < ground_height+5)\n",
    "    indices = np.argwhere(f_x & f_y & f_z).flatten()\n",
    "    xi_points = x_points[indices]\n",
    "    yi_points = y_points[indices]\n",
    "    zi_points = z_points[indices]\n",
    "    print(xi_points)\n",
    "    \n",
    "#     k_means = cluster.KMeans(n_clusters=6- int(center[0]//10))\n",
    "#     k_means.fit(xi_points.reshape((-1,1)))\n",
    "#     labels, counts = np.unique(k_means.labels_ , return_counts=True)\n",
    "#     print(sum(counts), counts, k_means.cluster_centers_, [range_min[0], range_max[0]])\n",
    "    #x_select = []\n",
    "    #y_select = []\n",
    "    #for i in np.argsort(counts)[-3:] :\n",
    "    #    x_select.append(x_points[indices[k_means.labels_== labels[np.argmax(counts)] ]])\n",
    "    #    y_select.append(y_points[indices[k_means.labels_== labels[np.argmax(counts)] ]])\n",
    "    #print(y_select,  np.min(y_select), np.max(y_select), range_min[1], range_max[1])\n",
    "    #return [ground_height, np.min(x_select), np.max(x_select), np.min(y_select), np.max(y_select)]\n",
    "    #for label \n",
    "    #print(k_means.labels_.r)\n",
    "    \n",
    "    \n",
    "            #return k_means.cluster_centers_[ground_cluster][0]\n",
    "#             size = 2*search_size+1\n",
    "#             # INITIALIZE EMPTY ARRAY - of the dimensions we want\n",
    "#             top = np.zeros([size, size], dtype=np.float32)\n",
    "#             top[xi_points, yi_points] = zi_points - z_min\n",
    "#             print(search_size, len(zi_points), np.median(zi_points), np.min(zi_points), np.mean(zi_points), range_min[2])\n",
    "#             return top\n",
    "#             #return (search_size, len(zi_points), np.median(zi_points), np.min(zi_points), np.mean(zi_points), range_min[2])\n",
    "\n",
    "df = pd.DataFrame(index=sorted(velodyne_timestamps.keys()), columns=['z_min','x_min','x_max','y_min', 'y_max'])\n",
    "with rosbag.Bag(bag_file, 'r') as bag:\n",
    "    for topic, msg, t in bag.read_messages(topics='/velodyne_points'):\n",
    "        timestamp = t.to_nsec()\n",
    "        if (timestamp//1e8)%10 == 0 :\n",
    "            print('currently on ', timestamp)\n",
    "        arr = msg_to_arr(msg)\n",
    "        lidar = np.array([[a[0], a[1], a[2], a[3]] for a in arr])\n",
    "        frame_index = time_df.loc[[t.to_nsec()]].cam_index.values[0]\n",
    "        for i, f in enumerate(frame_map[frame_index]):\n",
    "            dims = f.size[::-1]\n",
    "            obs_centroid = np.array(f.trans)\n",
    "            R = tf.transformations.quaternion_matrix(f.rotq)\n",
    "            corners = [0.5*np.array([i,j,k])*dims for i in [-1,1] \n",
    "                        for j in [-1,1] for k in [-1,1]]\n",
    "            corners = [obs_centroid + R.dot(list(c)+[1])[:3] for c in corners]\n",
    "            #print(corners, np.max(corners, axis=0), np.min(corners, axis=0))\n",
    "            get_patch(lidar, corners)\n",
    "            #df.loc[timestamp] = [get_patch(lidar, corners),0,0,0,0]\n",
    "            #h = get_patch(lidar, corners)\n",
    "            #print(t.to_nsec(), h)\n",
    "            #ground_height.append(h)\n",
    "            #print(patch)\n",
    "            #fi = plt.figure()\n",
    "            #plt.imshow(patch, cmap=\"hot\")\n",
    "        if (count>100):\n",
    "            break\n",
    "        count+=1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
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      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f30cd17d850>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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LjDtsfzBEQzjzd3tVa6TkcKwwUICxYQFwMFyYzLRNf/3sqXxmwXj+feN8nr5pIbPH5bNs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\nuGSZUTju31cZhfTCZCVQD8gX1e93XO0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FvYYFYs3OlaIAAAAASUVORK5CYII=\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f30cdc75410>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f30cdbeaf10>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "t = sorted(np.array(velodyne_timestamps.keys()))\n",
    "t0 = min(t)\n",
    "t = (t-t0)/1e9\n",
    "extra = 0.2*t[-1]\n",
    "n = int(10*extra)\n",
    "\n",
    "df = df.sort_index()\n",
    "df.index = t\n",
    "df_pre = pd.concat([pd.DataFrame(df.iloc[:n].mean()).transpose()]*n)\n",
    "df_pre.index = np.linspace(-extra, -0.1, n)\n",
    "df_post = pd.concat([pd.DataFrame(df.iloc[-n:].mean()).transpose()]*n)\n",
    "df_post.index = np.linspace(t[-1]+0.1, t[-1]+extra, n)\n",
    "df_new = pd.concat([df_pre, df, df_post])\n",
    "#valid = df_new.x_max<20\n",
    "\n",
    "poly = {'z_min':None, 'x_min':None, 'y_min':None}\n",
    "#valid_range = {'z_min':(-2.5,-1.0), 'x_min':(50,-18), 'x_max':(18,-50) , 'y_min':50}\n",
    "valid_range = {'z_min':2.5, 'x_min':50, 'x_max':50 , 'y_min':50, 'y_max':50}\n",
    "#valid_indices = {'z_min':None, 'x_min':None, 'y_min':None} \n",
    "valid_indices = None\n",
    "\n",
    "\n",
    "mask = (np.abs(df_new.x_min)<valid_range['x_min']) \\\n",
    "    & (np.abs(df_new.y_min)<valid_range['y_min'])  \\\n",
    "    & (np.abs(df_new.z_min)<valid_range['z_min'])\n",
    "\n",
    "subset = df_new[mask]    \n",
    "    \n",
    "z0 = np.polyfit(subset.index, subset['z_min'], 13)\n",
    "poly['z_min'] = np.poly1d(z0)    \n",
    "    \n",
    "#subset = df_new[mask]\n",
    "z1 = np.polyfit(subset.index, subset['x_min'], 13)\n",
    "poly['x_min'] = np.poly1d(z1)\n",
    "\n",
    "#subset = df_new[mask]\n",
    "z2 = np.polyfit(subset.index, subset['y_min'], 13)\n",
    "poly['y_min'] = np.poly1d(z2)\n",
    "\n",
    "for key in poly.keys() :\n",
    "    fig = plt.figure()\n",
    "    #valid_indices[key] = [i for i in range(len(df)) if np.abs(df.iloc[i][key])<valid_range[key]]\n",
    "    #subset = df.iloc[valid_indices[key]]\n",
    "    tp = np.linspace(subset.index[0], max(t)+extra, 100)\n",
    "    plt.plot(df_new.index, df_new[key])\n",
    "    plt.plot(tp, poly[key](tp))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 911,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "df_out = pd.DataFrame(index=sorted(timestamp_map.keys()), columns=['z_min','x_min','y_min'])\n",
    "t = df_out.index\n",
    "t = (t-t0)/1e9\n",
    "valid_indices = np.argwhere(mask).flatten()\n",
    "mask1 = np.in1d(time_df['vel_index'], valid_indices)\n",
    "mask2 = np.in1d(time_df[mask1].index, df_out.index)\n",
    "valid_times = time_df[mask1][mask2].index\n",
    "for key in poly.keys():\n",
    "     df_out.loc[valid_times, key] = poly[key]((valid_times-t0)/1e9)\n",
    "df_out.to_csv(out_file, index_label=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 912,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
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       "<p>445 rows × 3 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "                        z_min  x_min  y_min\n",
       "1492892605465855961 -1.838113    0.0    0.0\n",
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       "1492892606632612179 -1.857751    0.0    0.0\n",
       "1492892606676687146 -1.860463    0.0    0.0\n",
       "...                       ...    ...    ...\n",
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       "1492892623968322698 -1.676536    0.0    0.0\n",
       "\n",
       "[445 rows x 3 columns]"
      ]
     },
     "execution_count": 912,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "pd.read_csv(out_file)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 843,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "a,b,c = x.iloc[0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 852,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([-1.9560995 ,  0.        , -2.00097859])"
      ]
     },
     "execution_count": 852,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "z = np.array([a,b,c])\n",
    "z[np.isnan(z)] = 0\n",
    "z"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 855,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "a,b,c = x.loc[1492892409715650731]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 857,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([ 0.        , -2.00097859, -1.9560995 ])"
      ]
     },
     "execution_count": 857,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "z = np.array([b,c,a])\n",
    "z[np.isnan(z)] = 0\n",
    "z"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 914,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
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       "      <td>0</td>\n",
       "      <td>0</td>\n",
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       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1492892330438666000</th>\n",
       "      <td>-1.60023</td>\n",
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       "      <td>0</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>577 rows × 5 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "                       z_min x_min x_max y_min y_max\n",
       "1492892272788699000 -1.59989     0     0     0     0\n",
       "1492892272888796000  -1.6005     0     0     0     0\n",
       "1492892272988887000 -1.60063     0     0     0     0\n",
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       "1492892273289132000  -1.6005     0     0     0     0\n",
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       "1492892273689479000  -1.6005     0     0     0     0\n",
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       "1492892274189912000 -1.60056     0     0     0     0\n",
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       "1492892275090721000  -1.5994     0     0     0     0\n",
       "1492892275190806000 -1.60037     0     0     0     0\n",
       "1492892275290879000  -1.6006     0     0     0     0\n",
       "1492892275390981000  -1.6003     0     0     0     0\n",
       "1492892275491039000 -1.60076     0     0     0     0\n",
       "1492892275591142000 -1.60042     0     0     0     0\n",
       "1492892275691213000 -1.60044     0     0     0     0\n",
       "...                      ...   ...   ...   ...   ...\n",
       "1492892327536153000 -1.60044     0     0     0     0\n",
       "1492892327636242000  -1.6005     0     0     0     0\n",
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       "1492892328637084000  -1.6008     0     0     0     0\n",
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       "1492892328937345000 -1.60088     0     0     0     0\n",
       "1492892329037431000 -1.60038     0     0     0     0\n",
       "1492892329137532000  -1.6006     0     0     0     0\n",
       "1492892329237604000  -1.6007     0     0     0     0\n",
       "1492892329337690000 -1.60058     0     0     0     0\n",
       "1492892329437777000  -1.6008     0     0     0     0\n",
       "1492892329537876000 -1.60046     0     0     0     0\n",
       "1492892329637980000  -1.6007     0     0     0     0\n",
       "1492892329738037000 -1.60052     0     0     0     0\n",
       "1492892329838123000 -1.60084     0     0     0     0\n",
       "1492892329938234000  -1.5999     0     0     0     0\n",
       "1492892330038297000 -1.60081     0     0     0     0\n",
       "1492892330138383000 -1.60096     0     0     0     0\n",
       "1492892330238471000 -1.60061     0     0     0     0\n",
       "1492892330338558000 -1.60049     0     0     0     0\n",
       "1492892330438666000 -1.60023     0     0     0     0\n",
       "\n",
       "[577 rows x 5 columns]"
      ]
     },
     "execution_count": 926,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "df"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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